Design and Understandability of Digital-Audio Musical Symbols for Intent and State Communication from Service Robots to Humans
Auditory displays for mobile service robots are developed. The design of digital-audio symbols, such as directional sounds and additional sounds for robot states, as well as the design of more complicated robot sound tracks are explained. Basic musical elements and robot movement sounds are combined. Two experimental studies, on the understandability of the directional sounds and on the auditory perception of intended robot trajectories in a simulated supermarket scenario, are described.