BEHAVE-II: The Revised Set of Measures to Assess Users’ Attitudinal and Behavioral Responses to a Social Robot

In order to inform the design of behaviors for robots that share domestic and public spaces with people, it is important to know what robot behavior is considered as normative. The work reported in this paper stems from the premise that what is perceived as socially normative behavior for people may differ from what is considered socially normative for a robot. This paper details the development of a data collection instrument, BEHAVE-II, for assessing user responses toward a robot’s behavior using both attitudinal and behavioral responses. To test the validity and reliability of the BEHAVE-II instrument, a human-robot interaction experiment was conducted in which a robot or a human invaded the personal space of a participant. We found that participants’ reactions were stronger when their personal space was invaded by a robot compared with a person. This points to the fact that humans are actually highly sensible whether robots’ adhere to social norms which underlines the importance of the BEHAVE-II instrument.