In this paper, we explore the new design space of extra-linguistic cues inspired by graphical tropes used in graphic novels and animation to enhance the expressiveness of social robots. To achieve this, we identified a set of cues that can be used to generate expressions, including smoke/steam/fog, water droplets, and bubbles. We prototyped devices that can generate these fluid expressions for a robot and conducted design sessions where eight designers explored the use and utility of the cues in conveying the robot's internal states in various design scenarios. Our analysis of the 22 designs, the associated design justifications, and the interviews with designers revealed patterns in how each cue was used, how they were combined with nonverbal cues, and where the participants drew their inspiration from. These findings informed the design of an integrated module called EmoPack, which can be used to augment the expressive capabilities of any robot platform.

翻译：本文探索了一种新的超语言线索设计空间，该空间受图形小说和动画中图形修辞手法的启发，旨在增强社交机器人的表现力。为此，我们识别出一组可用于生成表达的信号，包括烟雾/蒸汽/雾气、水滴和气泡。我们制作了原型设备，使机器人能够生成这些动态液体表现，并组织了设计研讨会，让八位设计师在多种设计场景中探索这些信号在传达机器人内部状态方面的用途与效用。通过对22项设计方案、相关设计理由的分析以及设计师访谈，我们揭示了每种信号的使用模式、它们与非语言线索的组合方式，以及参与者灵感的来源。这些发现指导了我们设计一个名为EmoPack的集成模块，该模块可用于增强任何机器人平台的表现能力。