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Estimating the engagement is critical for human - robot interaction.Engagement measures typically rely on the dynamics of the social signalsexchanged by the partners, especially speech and gaze. However, the dynamics ofthese signals is likely to be influenced by individual and social factors, suchas personality traits, as it is well documented that they critically influencehow two humans interact with each other. Here, we assess the influence of twofactors, namely extroversion and negative attitude toward robots, on speech andgaze during a cooperative task, where a human must physically manipulate arobot to assemble an object. We evaluate if the scores of extroversion andnegative attitude towards robots co-variate with the duration and frequency ofgaze and speech cues. The experiments were carried out with the humanoid robotiCub and N=56 adult participants. We found that the more people are extrovert,the more and longer they tend to talk with the robot; and the more people havea negative attitude towards robots, the less they will look at the robot faceand the more they will look at the robot hands where the assembly and thecontacts occur. Our results confirm and provide evidence that the engagementmodels classically used in human-robot interaction should take into accountattitudes and personality traits.

Towards engagement models that consider individual factors in HRI: on  the relation of extroversion and negative attitude towards robots to gaze and  speech during a human-robot assembly task