In exploratory analyses, however, we found that in Experiment 1, the Movies sound design made the SON robot appear significantly more responsive than Glass Attack. Movies also made this robot appear significantly more aggressive than both other two sound designs. Briggs, S. R., and Cheek, J. M. (1986). Based on the movements of the soft robot, the filter cutoff frequency, filter envelope percentage, and filter end position percentage are modulated in the sound design. Within psychoacoustics, loudness is understood as an attribute of auditory sensation ranging on a scale from soft, which describes low amplitude sounds, to loud, which describes high amplitude sounds (Lentz, 2020; Fastl and Zwicker, 2007). SON air chamber overview (A) and CAD rendering of the mold (B). Mag. Finally, three transparent supply tubes in PVC with a length of 90cm each and 1.5mm/3mm ID/OD were inserted into each pneumatic channel of the soft morphology from below and the robot was coated with talc powder to prevent lint and dust from adhering to it. Current Opinion in Behavioral Sciences 19, 712. New comments cannot be posted and votes cannot be cast. We found no statistically significant differences in competence, warmth, and discomfort ratings between the different sound design conditions in either Experiment 1 or Experiment 2. Initially, movies that contain characters with soft bodies and/or morphing/deformable soft tissue were identified by searching the internet and going through user lists on the online movie database IMDb (https://www.imdb.com/). However, 2 participants in 5-Tent.-Glass also argued that this sound is how one would imagine a robot to sound like, and 1 participant in 6-Tent.-Movies believed that the robot () does not say words like humans and therefore it sounds like a robot (Participant 116), 6-Tent.-Movies). Keywords: soft robotics, human-robot interaction, sound design, social robotics, practice-based artistic research, Citation: Jrgensen J and Christiansen M (2021) The Sounds of Softness. Ratings were given on a 7-point scale (1not at all, 7very much so). Voices are working, all except for Player and Curie. This gorgeously dreamy track from the Trans-Europe Express album uses electronic melody and a synthesised vocal to sweetly and delicately pay homage to the 19th-century Austrian composer. That might sound like a recipe for a bland and blank character, but the reality is far from that. Human-Robot Kinesthetics: Mediating Kinesthetic Experience for Designing Affective Non-humanlike Social Robots, in 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 571576. Howard, D.M., and Angus, J.A.S. doi:10.1167/14.4.12. Fallout 4: 10 Facts You Didn't Know About Curie - TheGamer Music, cognition, and computerized sound: An introduction to psychoacoustics. Experiment 1 had a total of 66 participants and Experiment 2 had 60 participants. A keen cyclist who thought nothing of riding between concerts (and had a bad bike crash, too), Htter delved deep into his hobbys minutiae for Tour De France Soundtracks. The Man-Machine (Die Mensch-Machine) album doesnt sound as futuristic now as 1981s Computer World, but on release it trailblazed what the music press briefly dubbed machine rock. Anthropomorphism and the social robot. In relation to sound, there are different ways in which soft can be understood. Amsterdam; Boston; London: Focal. Cuan, C., Pakrasi, I., Berl, E., and LaViers, A. In addition, it presents a technical system designed to generate sounds to accompany soft robotic movement as a means of nonverbal signaling to human users. The soft morphology was cast from Ecoflex 00-30 silicone colored with Silc-Pig pigments in a 3D printed mold (Figure 2B), using the following fabrication procedure. B., and Tresset, P. (2020). All rights reserved. Layered sounds from synthesizers are used, Sounds are often manipulated by raising or lowering pitch or using filters. Our approach was based in creative practice and artistic research methodologies combined with empirical HRI methods for testing. The measurements were done with the robots and the loudspeaker positioned on the table and cloth as described above. Comments relating to sci-fi, aliens, and the future predominantly concern the Movies sound design [3-SON-Movies (N = 4); 6-Tent.-Movies (N = 4)]. The mechanical sound of the robots themselves has been measured without any sound playing on the loudspeaker. A majority of participants (N = 9) stated that the sound suits the robots looks or matches what is expected for the robots appearance, with Glass Attack having the highest prevalence [1-SON-White (N = 2); 2-SON-Glass (N = 4); 3-SON-Movies (N = 3)]. Very mechanical and a sound one has heard in Star wars/terminator [sic] (Participant 82, 5-Tent.-Glass). Expressive movement primitives of the morphology were discovered empirically through aesthetic experimentation with the robot and were combined to form programmed movement sequences. Journal of Vision 14, 1212. Hear me out on this. Soft robots can be defined as systems that are capable of autonomous behavior and primarily composed of materials with elastic moduli in the range of that of soft biological materials (Rus and Tolley, 2015). Four participants experiencing the Tentacle robot instead associated its sound with technical equipment including an airplane (Participant 87, 5-Tent.-Glass), a car (Participant 126, 5-Tent.-Glass), a robotic arm in a factory (Participant 105, 6-Tent.-Movies), and medical equipment (Participant 77, 4-Tent.-White). Yet, our study design does not allow us to determine if this difference is an effect of embodiment or of context. In further work, it would be relevant to study, that if different sound designs do not have marked effects on a soft robots general sociality, then could sound perhaps affect other more basic perceived qualities of the robot? As the third sound, we wanted to make a hard sound to contrast and compare the two soft sounds against. Psychol. Curie's ignorance is a part of her appeal. Only 1 of the 4 comments for the Tentacle robot invoked a distinction between organic and mechanical (in condition 4-Tent.-White). Depending on the algorithm, an operator can modulate other operators, be modulated by other operators or both, which has a substantial effect on the synthesizers sound and timbral qualities with no use of filters. Participants were a convenience sample of people present, of whom all but one participant turned out to be university students. But the voice itself? Groups under Faculty indicate under which faculty the participant studies if a student at the university (HUM = humanities, NAT = natural sciences, SOC = business and social sciences, HEA = health sciences, TEC = technical sciences). MC contributed to related work, wrote most of design, and drafted the thematic analysis section under supervision of JJ. Copenhagen: IT University of Copenhagen. But the problem then was that when the time came around, Curie just morphed into the Synth body on her own without going through the quest. The word piano, which translates as soft, is also used within music theory to describe a decrease in a musical scores intensity achieved by playing an instrument more gently, whereby not only the sounds amplitude is changed, but also its timbral qualities (Cook, 1999). The first contained a light Caucasian skin tone-like pigment, the second a delicate pink pigment, and the third uncolored semitransparent silicone. doi:10.1145/3371382.3378328, Bering Christiansen, M., and Jrgensen, J. They start with Protectron parts without any armor, but individual parts from other robots can . Fujisaki, W., Goda, N., Motoyoshi, I., Komatsu, H., and Nishida, S. (2014). Front view (A) and top view (B). Reddit and its partners use cookies and similar technologies to provide you with a better experience. Shutterly, A., Menguc, Y., and Knight, H. (2018). A. For the Tentacle robot, we instead briefed people to imagine that they were to solve a practical task, such as packing or moving small goods or products, together with this robot. Internal auditory cues are sounds entirely generated by the creatures own body such as breathing, snoring, or sighing, while external auditory cues are produced by its physical interaction with the environment. For the Tentacle robot, 1 participant argued that the blowing sound made the robot more repulsive (Participant 79, 4-Tent.-White), while another participant believed the sound to be the actual sound of the pressurized air actuating the robot and not a designed sound. This article thus addresses the following three research questions: RQ1: What does a soft robot sound like and what is soft sound? the quaint looks of the robots might have stolen the focus from the sound and contributed to lessening the effect of differences in sound, which might have been more pronounced with a more common robot. The A-to-Z of Synthesizer Terms. Arts + Health, in Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction HRI 20, Cambridge, United Kingdom, March 2020 (New York, NY: Association for Computing Machinery), 17. OK, I guess. The state of the art Curie was designed to be the guardian of Vault 81, responsible for preserving the knowledge amassed by the Vault 81 scientists, as well as ensuring that every single one is aware of the significance of the mission undertaken within the halls of the Vault. Artistic research diverges from artmaking in general, as it encompasses an ambition to contribute toward thinking and understanding and not just the development of an art practice in itself. A statistically significant difference (p = 0.000) for aggressive between condition 3 (M = 3.60) and both condition 1 (M = 2.05) and condition 2 (M = 1.81) was also found. Her mouth wont move, and her voice still has the robot filter. From the Ralf und Florian (ie Htter and Schneider) album, this was a favourite of Sheffields own electronic pioneers, Cabaret Voltaire, who started out soon after this was released. In our design of the second soft sound we chose to disregard soft as the opposite of loud, and instead focus on soft sound as the opposite of hard or harsh sound. Afrika Bambaataa & Soul Sonic Force repurposed Trans-Europe Expresss hypnotic melody for the pioneering hip-hop single Planet Rock; the danceable machine rhythms laid the foundations for electro, techno, house, dubstep and beyond, and influenced artists from Joy Division to Daft Punk.
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