The primary aim of this paper is to investigate the integration of emotions into the social navigation framework to analyse its effect on both navigation and human physiological safety and comfort. The proposed framework uses leg detection to find the whereabouts of people and computes adaptive proxemic zones based on their emotional state. We designed several case studies in a simulated environment and examined 3 different emotions; positive (happy), neutral and negative (angry). A survey study was conducted with 70 participants to explore their impressions about the navigation of the robot and compare the human safety and comfort measurements results. Both survey and simulation results showed that integrating emotions into proxemic zones has a significant effect on the physical safety of a human. The results revealed that when a person is angry, the robot is expected to navigate further than the standard distance to support his/her physiological comfort and safety. The results also showed that reducing the navigation distance is not preferred when a person is happy.

翻译：本文主要旨在研究将情感融入社交导航框架中，以分析其对导航效果及人体生理安全与舒适度的影响。所提出的框架利用腿部检测定位人员位置，并基于其情感状态计算自适应社交距离区域。我们在模拟环境中设计了多个案例研究，考察了三种不同情感：积极（快乐）、中性及消极（愤怒）。通过一项包含70名参与者的问卷调查，探究他们对机器人导航的印象，并比较人类安全与舒适度的测量结果。调查与仿真结果均表明，将情感融入社交距离区域对人类生理安全具有显著影响。研究结果显示，当一个人愤怒时，机器人需以超出标准距离的路径导航，以支持其生理舒适与安全。结果还表明，当一个人快乐时，缩短导航距离并非首选方案。