Appendix for “Consequential Robot Sound: Should Robots Be Quiet and High-Pitched?”

This page serves as the appendix to the paper “Consequential Robot Sound: Should Robots Be Quiet and High-Pitched?” presented at the Sound in Human-Robot Interaction workshop at the 2021 ACM/IEEE International Conference on Human-Robot Interaction (HRI).

All survey videos and associated questions are available below.

Introduction

Loudness Calibration

Loudness calibration video, played before all other videos.

What kind of listening device are you using?

  • Over-ear or on-ear headphones
  • Earbuds or in-ear headphones
  • External speakers
  • Laptop speakers
  • Phone speakers
  • Other: ________________________________________________

If you can recall, what is the make and model of your listening device?

________________________________________________________________

Robot Introduction & UTAUT

Robot introduction video, explicitly labeled as silent.

Please indicate your level of agreement for each of the following statements:

 Strongly disagreeDisagreeSomewhat disagreeNeither agree nor disagreeSomewhat agreeAgreeStrongly agree
I think using the robot would be a good idea.       
I would be afraid to make mistakes while using the robot.       
I would be afraid to break something while using the robot.       
People would be impressed if I had such a robot.       
Robots are nice to work with.       
I am afraid that I could lose my job because of a robot.       
I could cooperate with the robot.       
I think the robot would be easy to use.       
I would like the presence of the robot.       
I could do activities with this robot.       
I would feel threatened by the robot.       
This robot would be useful to me.       
This robot could help me.       
This robot could support me.       
I consider the robot to be a social agent.       
I would feel understood by the robot.       
I would feel comfortable while interacting with the robot.       
I could work with the robot, if someone helped me.       
I could work with the robot without any help.       
I could work with the robot, if I had good initial training.       
I would trust the robot.       
I would follow the example of the robot.       
I am well-experienced in robotics.       
I am well-experienced in music.       
A unified theory of acceptance and use of technology (UTAUT) -based questionnaire, asked after the introductory video.

Comparative Stimuli

Participants viewed 6 of the following 12 videos in random order. For each combination of videos, participants viewed either the left-right or right-left version. Viewing of these two versions was counterbalanced across participants.

After each video, participants answered the questions at the end of this section.

Comparative stimulus for the original (A, left) and attenuated (B, right) conditions. Either this video or the following video was played.
Comparative stimulus for the attenuated (B, left) and original (A, right) conditions. Either this video or the previous video was played.
Comparative stimulus for the original (A, left) and silent (C, right) conditions. Either this video or the following video was played.
Comparative stimulus for the silent (C, left) and original (A, right) conditions. Either this video or the previous video was played.
Comparative stimulus for the original (A, left) and downshifted (D, right) conditions. Either this video or the following video was played.
Comparative stimulus for the downshifted (D, left) and original (A, right) conditions. Either this video or the previous video was played.
Comparative stimulus for the attenuated (B, left) and silent (C, right) conditions. Either this video or the following video was played.
Comparative stimulus for the silent (C, left) and attenuated (B, right) conditions. Either this video or the previous video was played.
Comparative stimulus for the attenuated (B, left) and downshifted (D, right) conditions. Either this video or the following video was played.
Comparative stimulus for the downshifted (D, left) and attenuated (B, right) conditions. Either this video or the previous video was played.
Comparative stimulus for the silent (C, left) and downshifted (D, right) conditions. Either this video or the following video was played.
Comparative stimulus for the downshifted (D, left) and silent (C, right) conditions. Either this video or the previous video was played.

Which robot did you trust more?

  • Robot on Left
  • Robot on Right

Which robot did you think was more human-like?

  • Robot on Left
  • Robot on Right

Which robot did you think was more dependable?

  • Robot on Left
  • Robot on Right

Which robot would you be more willing to have around while you work?

  • Robot on Left
  • Robot on Right

Which robot did you like better?

  • Robot on Left
  • Robot on Right

Individual Stimuli

Participants viewed each of the following 4 videos in random order.

After each video, participants answered the questions at the end of this section.

Individual stimulus for the original (A) condition.
Individual stimulus for the attenuated (B) condition.
Individual stimulus for the silent (C) condition.
Individual stimulus for the downshifted (D) condition.

Please check all of the words that you associate with the robot.

  • Annoying
  • Pleasant
  • Expensive
  • Inexpensive
  • Weak
  • Strong
  • Imprecise
  • Precise
  • Smooth
  • Rough
  • Untrustworthy
  • Trustworthy

A Check-All-That-Apply question based on prior work by Moore et al.

Please indicate how associated each of the following words is with the robot.

 Definitely not associatedNot associatedSomewhat not associatedSomewhat associatedAssociatedDefinitely associated
Happy      
Feeling      
Social      
Organic      
Compassionate      
Emotional      
Capable      
Responsive      
Interactive      
Reliable      
Competent      
Knowledgeable      
Scary      
Strange      
Awkward      
Dangerous      
Aggressive      
Awful      
A questionnaire based on the Robotic Social Attributes Scale (RoSAS).