For a service robot to serve travelers at an airport or for a social robot to live with a human partner at home, it is vital for robots to possess the ability to empathize with human partners and express congruent emotions accordingly. We conducted a systematic review of the literature regarding empathy in interpersonal, virtual agents, and social robots research with inclusion criteria to analyze empirical studies in a peer-reviewed journal, conference proceeding, or a thesis. Based on the review, we define empathy for human–robot interaction (HRI) as the robot’s (observer) capability and process to recognize the human’s (target) emotional state, thoughts, and situation, and produce affective or cognitive responses to elicit a positive perception of humans. We reviewed all prominent empathy theories and established a conceptual framework that illuminates critical components to consider when designing an empathic robot, including the empathy process, outcome, and the observer and target characteristics. This model is complemented by empirical research involving empathic virtual agents and social robots. We suggest critical factors such as domain dependency, multi-modality, and empathy modulation to consider when designing, engineering, and researching empathic social robots.

This study is aimed to determine significant physiological parameters of brain and heart under meditative state, both in each activities and their dynamic correlations. Electrophysiological changes in response to meditation were explored in 12 healthy volunteers who completed 8 weeks of a basic training course in autogenic meditation. Heart coherence, representing the degree of ordering in oscillation of heart rhythm intervals, increased significantly during meditation. Relative EEG alpha power and alpha lagged coherence also increased. A significant slowing of parietal peak alpha frequency was observed. Parietal peak alpha power increased with increasing heart coherence during meditation, but no such relationship was observed during baseline. Average alpha lagged coherence also increased with increasing heart coherence during meditation, but weak opposite relationship was observed at baseline. Relative alpha power increased with increasing heart coherence during both meditation and baseline periods. Heart coherence can be a cardiac marker for the meditative state and also may be a general marker for the meditative state since heart coherence is strongly correlated with EEG alpha activities. It is expected that increasing heart coherence and the accompanying EEG alpha activations, heart brain synchronicity, would help recover physiological synchrony following a period of homeostatic depletion.

With the prevalence of virtual avatars and the recent emergence of metaverse technology, there has been an increase in users who express their identity through an avatar. The research community focused on improving the realistic expressions and non-verbal communication channels of virtual characters to create a more customized experience. However, there is a lack in the understanding of how avatars can embody a user’s signature expressions (i.e., user’s habitual facial expressions and facial appearance) that would provide an individualized experience. Our study focused on identifying elements that may affect the user’s social perception (similarity, familiarity, attraction, liking, and involvement) of customized virtual avatars engineered considering the user’s facial characteristics. We evaluated the participant’s subjective appraisal of avatars that embodied the participant’s habitual facial expressions or facial appearance. Results indicated that participants felt that the avatar that embodied their habitual expressions was more similar to them than the avatar that did not. Furthermore, participants felt that the avatar that embodied their appearance was more familiar than the avatar that did not. Designers should be mindful about how people perceive individuated virtual avatars in order to accurately represent the user’s identity and help users relate to their avatar.

Continuous cardiac monitoring has been developed to evaluate cardiac activity outside of clinical environments due to the advancement of novel instruments. Seismocardiography (SCG) is one of the vital components that could develop such a monitoring system. Although SCG has been presented with a lower accuracy, this novel cardiac indicator has been steadily proposed over traditional methods such as electrocardiography (ECG). Thus, it is necessary to develop an enhanced method by combining the significant cardiac indicators. In this study, the six-axis signals of accelerometer and gyroscope were measured and integrated by the L2 normalization and multi-dimensional kineticardiography (MKCG) approaches, respectively. The waveforms of accelerometer and gyroscope were standardized and combined via ensemble averaging, and the heart rate was calculated from the dominant frequency. Thirty participants (15 females) were asked to stand or sit in relaxed and aroused conditions. Their SCG was measured during the task. As a result, proposed method showed higher accuracy than traditional SCG methods in all measurement conditions. The three main contributions are as follows: (1) the ensemble averaging enhanced heart rate estimation with the benefits of the six-axis signals; (2) the proposed method was compared with the previous SCG method that employs fewer-axis; and (3) the method was tested in various measurement conditions for a more practical application.