The concept of joint attention holds significant importance in human interaction and is pivotal in establishing rapport, understanding, and effective communication. Within social robotics, enhancing user perception of the robot and promoting a sense of natural interaction with robots becomes a central element. In this sense, emulating human-centric qualities in social robots, such as joint attention, defined as the ability of two or more individuals to focus on a common event simultaneously, can increase their acceptability. This study analyses the impact on user perception of a responsive joint attention system integrated into a social robot within an interactive scenario. The experimental setup involves playing against the robot in the “Odds and Evens” game under two conditions: whether the joint attention system is active or inactive. Additionally, auditory and visual distractors are employed to simulate real-world distractions, aiming to test the system’s ability to capture and follow user attention effectively. To assess the influence of the joint attention system, participants completed the Robotic Social Attributes Scale (RoSAS) after each interaction. The results showed a significant improvement in user perception of the robot’s competence and warmth when the joint attention system was active.

Joint attention, the capacity of two or more individuals to focus on a common event simultaneously, is fundamental to human–human interaction, enabling effective communication. When considering the field of social robotics, emulating this capability might be necessary for promoting natural interactions and thus improving user engagement. Responding to joint attention (RJA), defined as the ability to react to external attentional cues by aligning focus with another individual, plays a critical role in promoting mutual understanding. This study examines how RJA impacts user engagement during human–robot interaction. The participants play a turn-taking game against a social robot under two conditions: with our RJA system active and with the system inactive. Auditory and visual stimuli are introduced to simulate real-world dynamics, testing the robot’s ability to detect and follow the user’s focus of attention. We use a twofold approach to evaluate the system’s impact on the user’s experience during the interaction. On the one hand, we use head pose telemetry to quantify attentional aspects of engagement, including measures of distraction and focus during the interaction. On the other hand, we use a post-experimental questionnaire incorporating the User Engagement Scale Short Form to assess engagement. The results regarding telemetry data reveal reduced distraction and improved attentional consistency, highlighting the system’s ability to maintain attention on the current task effectively. Furthermore, the questionnaire responses show that RJA significantly enhances self-reported engagement when the system is active. We believe these findings confirm the value of attentional mechanisms in promoting engaging human–robot interactions.

The concept of joint attention holds significant importance in human interaction and is pivotal in establishing rapport, understanding, and effective communication. Within social robotics, enhancing user perception and fostering a sense of natural interaction with robots becomes a central element. In this sense, emulating human‐centric qualities in social robots, such as joint attention, defined as the ability of two or more individuals to simultaneously focus on a common event, can increase their acceptability. This work introduces a responsive joint attention system integrated into the social robot Mini. The system calculates the position of the user's head, body, and face orientations in real‐time. With this information, the robot can perform natural movements based on the user's gaze and pointing directions. Moreover, the robot employs verbal expressions to alert the user when distractions are detected, enhancing the perception of the robot's responsiveness. This study also explores differences in user perception of the robot when the joint attention system is active. A user experiment involving an interactive gaming scenario is proposed. The results show significance in various social presence dimensions, validating the system and indicating that users discern when the joint attention system is active and perceive the robot's responsive behavior.

En el presente trabajo se ha desarrollado e implementado el juego pares o nones como una aplicación de entretenimiento en un robot social. Se ha escogido este juego al ser apto para todos los públicos, principalmente niños y personas mayores, por su simplicidad de uso y facilidad de aprendizaje. El objetivo del juego es servir tanto como aplicación de entretenimiento como para estimulación cognitiva al requerir realizar pequeñas operaciones matemáticas. Para llevar a cabo esta aplicación, por un lado, se ha utilizado modelos de inteligencia artificial para la detección de las manos de los usuarios y se han realizado las operaciones de procesado correspondientes para obtener la información necesaria en el juego. Por otro lado, se ha implementado la habilidad en el robot que le permite al usuario interaccionar con el mismo. Tanto el módulo de detección como la habilidad se han integrado en la arquitectura completa del robot.