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<p>As humanoid robots become widespread in our daily lives, providing psychological safety against their sudden and unpredictable behavior has become a critical issue. To reduce this psychological barrier, this study proposes a method that projects a shadow before the robot’s activation to preview its motion. In order to evaluate the effectiveness of this method, two experiments were carried out. In Experiment 1, human subject impressions were evaluated using the semantic differential (SD) method. The results showed that shadow projection significantly improved predictability for all evaluated actions. Additionally, the increased predictability led to a substantial increase in the perceived sense of security and reduced surprise. This effect was particularly pronounced for the “Hugging” action, which users anticipated as an invasion of their personal space, confirming that the shadow effectively mitigated threats from approaching actions. In Experiment 2, the optimal timing for the preview was investigated. The optimal delay time was approximately 5 to 6&#xa0;s on average. Qualitative analysis showed user preferences divided into two groups: “Meaning-Focused” users who needed time to fully understand the robot’s purpose, and “Precursor Detection-Focused” users who preferred immediate reactions. These results suggest that shadow projection is highly effective for promoting psychological safety, but for practical application, it is necessary to develop mechanisms that dynamically control the prediction timing based on individual needs and task content.</p>

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Motion preview of a humanoid robot by shadow projection

  • 期刊论文

  • 发表日期：

    2026年8月5日

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  • Miki Miyasaka,
  • Mitsuharu Matsumoto

摘要

As humanoid robots become widespread in our daily lives, providing psychological safety against their sudden and unpredictable behavior has become a critical issue. To reduce this psychological barrier, this study proposes a method that projects a shadow before the robot’s activation to preview its motion. In order to evaluate the effectiveness of this method, two experiments were carried out. In Experiment 1, human subject impressions were evaluated using the semantic differential (SD) method. The results showed that shadow projection significantly improved predictability for all evaluated actions. Additionally, the increased predictability led to a substantial increase in the perceived sense of security and reduced surprise. This effect was particularly pronounced for the “Hugging” action, which users anticipated as an invasion of their personal space, confirming that the shadow effectively mitigated threats from approaching actions. In Experiment 2, the optimal timing for the preview was investigated. The optimal delay time was approximately 5 to 6 s on average. Qualitative analysis showed user preferences divided into two groups: “Meaning-Focused” users who needed time to fully understand the robot’s purpose, and “Precursor Detection-Focused” users who preferred immediate reactions. These results suggest that shadow projection is highly effective for promoting psychological safety, but for practical application, it is necessary to develop mechanisms that dynamically control the prediction timing based on individual needs and task content.