We present a discovery-based, first version, explicit model of social interaction that provides a basis for measuring the quality of interaction of a human user with a social robot. The two core elements of the social interaction model are engagement and co-regulation. Engagement emphasizes the \textit{qualitative nature} of social interaction and the fact that a user needs to be drawn into the interaction with the robot. Co-regulation emphasizes the interaction process and the fact that a user and a robot need to be acting together. We argue that the quality of social interaction with a robot can be measured in terms of how efficiently engagement and co-regulation are established and maintained during the interaction and how satisfied the user is with the interaction.

翻译：我们提出了一个基于发现的第一版社会互动的明确模式,它为衡量人类用户与社会机器人互动的质量提供了基础。社会互动模式的两个核心要素是互动和共同监管。参与强调社会互动的textit{qualitality}以及用户需要被吸引到与机器人互动中的事实。共同监管强调互动进程以及用户和机器人需要共同行动的事实。我们主张,在互动期间,可以以如何高效地建立和维持互动和共同监管以及用户对互动的满意度来衡量与机器人的社会互动的质量。