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Recent work in HRI found that prefrontal hemodynamic activity correlated with participants’ aversions to certain robots. Using a combination of brain-based objective measures and survey-based subjective measures, it was shown that increasing the presence (co-located vs. remote interaction) and human-likeness of the robot engaged greater neural activity in the prefrontal cortex and severely decreased preferences for future interactions. The results of this study suggest that brain-based measures may be able to capture participants’ affective responses (aversion vs. affinity), and in a variety of interaction settings. However, the brain-based evidence of this work is limited to temporally-brief (6-second) post-interaction samples. Hence, it remains unknown whether such measures can capture affective responses over the course of the interactions (rather than post-hoc). Here we extend the previous analysis to look at changes in brain activity over the time course of more realistic human-robot interactions. In particular, we replicate the previous findings, and moreover find qualitative evidence suggesting the measurability of fluctuations in affect over the course of the full

Using Near Infrared Spectroscopy to Index Temporal Changes in Affect in Realistic Human-robot Interactions