Overview

Units and evidence

Perceived values are absolute; body-size values are ratios. Every value carries an evidence tag.

Units

Kind of valueHow it is writtenExample

Perceived by people (independent of robot size)Absolute: time ms · angle ° · pitch semitones (st)End hold 300 ms, tilt 12°

Depends on body sizeRatio: distance = body height (BH) · size = joint range of motion % (ROM) · speed = % of max speed (vmax)approach 0.3 BH, AMP 40% ROM, rotate 35% vmax

Face sizeRatio of screen heighteye.size 0.24

Tilt angles stay in degrees because they are perceptual thresholds. They are clamped to the joint limits of the robot class.

Evidence tags

TagMeaning

EmpiricalConfirmed in the PURE main study (n=47) or pilot (n=4)

LiteratureRobotics and animation research papers

HeuristicSet by the designer; to be calibrated with user tests

HypothesisKept as an independent variable in tests (e.g. idle intensity)

Notation: "%" = share of respondents; "pt" = a 7-point mean converted to 0–100 ((mean − 1) ÷ 6 × 100). Recognition rates use the strict criterion of the main study only.

Units

Evidence tags

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