Hagen Lehmann

Istituto Italiano di Tecnologia / Italian Institute of Technology, Advanced Robotics, Marie Curie Experienced Researcher

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I am a researcher working in social robotics and Human-Robot Interaction Research at the University of Macerata, Italy. The focus of my research is the application of social robots in educational contexts.
Supervisors: Giorgio Metta

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Bill Bowring

Birkbeck College, University of London

Steven Pinker

Harvard University

Cristina Bicchieri

University of Pennsylvania

Julian Kiverstein

Academic Medical Centre/ Universiteit van Amsterdam

Ruben López-Cano

Escola Superior de Música de Catalunya

Marc Champagne

Kwantlen Polytechnic University

David Seamon

Kansas State University

Remo Caponi

University of Cologne

Carla Bagnoli

Università degli studi di Modena e Reggio Emilia

Cor Baerveldt

University of Alberta

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Papers by Hagen Lehmann

Physiologically Inspired Blinking Behavior for a Humanoid Robot

Lecture Notes in Computer Science, 2016

Blinking behavior is an important part of human nonverbal communication. It signals the psycholog... more Blinking behavior is an important part of human nonverbal communication. It signals the psychological state of the social partner. In this study, we implemented different blinking behaviors for a humanoid robot with pronounced physical eyes. The blinking patterns implemented were either statistical or based on human physiological data. We investigated in an online study the influence of the different behaviors on the perception of the robot by human users with the help of the Godspeed questionnaire. Our results showed that, in the condition with human-like blinking behavior, the robot was perceived as being more intelligent compared to not blinking or statistical blinking. As we will argue, this finding represents the starting point for the design of a ‘holistic’ social robotic behavior.

Hey, Robot! An Investigation of Getting Robot’s Attention Through Touch

Lecture Notes in Computer Science, 2022

Touch is a key part of interaction and communication between humans, but has still been little ex... more Touch is a key part of interaction and communication between humans, but has still been little explored in human-robot interaction. In this work, participants were asked to approach and touch a humanoid robot on the hand (Nao-26 participants; Pepper-28 participants) to get its attention. We designed reaction behaviors for the robot that consisted in four different combinations of arm movements with the touched hand moving forward or back and the other hand moving forward or staying in place, with simultaneous leaning back, followed by looking at the participant. We studied which reaction of the robot people found the most appropriate and what was the reason for their choice. For both robots, the preferred reaction of the robot hand being touched was moving back. For the other hand, no movement at all was rated most natural for the Pepper, while it was movement forward for the Nao. A correlation between the anxiety subscale of the participants' personality traits and the passive to active/aggressive nature of the robot reactions was found. Most participants noticed the leaning back and rated it positively. Looking at the participant was commented on positively by some participants in unstructured comments. We also analyzed where and how participants spontaneously touched the robot on the hand. In summary, the touch reaction behaviors designed here are good candidates to be deployed more generally in social robots, possibly including incidental touch in crowded environments. The robot size constitutes one important factor shaping how the robot reaction is perceived.

Hagen Lehmann

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