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As robotic arms become prevalent in industry it is crucial to improve levelsof trust from human collaborators. Low levels of trust in human-robotinteraction can reduce overall performance and prevent full robot utilization.We investigated the potential benefits of using emotional musical prosody toallow the robot to respond emotionally to the user's actions. We testedparticipants' responses to interacting with a virtual robot arm that acted as adecision agent, helping participants select the next number in a sequence. Wecompared results from three versions of the application in a between-groupexperiment, where the robot had different emotional reactions to the user'sinput depending on whether the user agreed with the robot and whether theuser's choice was correct. In all versions, the robot reacted with emotionalgestures. One version used prosody-based emotional audio phrases selected fromour dataset of singer improvisations, the second version used audio consistingof a single pitch randomly assigned to each emotion, and the final version usedno audio, only gestures. Our results showed no significant difference for thepercentage of times users from each group agreed with the robot, and nodifference between user's agreement with the robot after it made a mistake.However, participants also took a trust survey following the interaction, andwe found that the reported trust ratings of the musical prosody group weresignificantly higher than both the single-pitch and no audio groups.

Emotional Musical Prosody for the Enhancement of Trust in Robotic Arm Communication