Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible experiences. In this position paper, we offer a series of definitive nonverbal codes for human-robot interaction (HRI) that address the five human sensory systems (visual, auditory, haptic, olfactory, gustatory) drawn from the field of communication studies. We discuss how these codes can be translated into design patterns for HRI using a curated sample of the communication studies and HRI literatures. As nonverbal codes are an essential mode in human communication, we argue that integrating robotic nonverbal codes in HRI will afford robots a feeling of "aliveness" or "social agency" that would otherwise be missing. We end with suggestions for research directions to stimulate work on nonverbal communication within the field of HRI and improve communication between human and robots.

翻译：人与人之间的交流以广泛的非语言线索为特征。将这些线索融入与人类互动的机器人及其他人工体的设计中，可能促进更自然、更具亲和力且更易接近的体验。在本立场论文中，我们基于传播学领域提出一系列适用于人机交互的确定性非语言代码，涵盖人类五种感官系统（视觉、听觉、触觉、嗅觉、味觉）。通过精心筛选的传播学及人机交互文献样本，我们探讨如何将这些代码转化为设计模式。由于非语言代码是人类交流的基本模式，我们认为整合机器人非语言代码将赋予机器人本缺失的“生命力”或“社交能动性”感知。最后，我们提出研究方向的建议，以激发人机交互领域内关于非语言交流的工作，并改善人与机器人之间的沟通。