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Matia FAuthorGalán DCorresponding AuthorSánchez-Escribano MgAuthorDe La Puente PAuthorRodríguez-Cantelar MAuthor

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March 21, 2023
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An Emotional Model Based on Fuzzy Logic and Social Psychology for a Personal Assistant Robot

Publicated to:Applied Sciences-Basel. 13 (5): 3284- - 2023-03-01 13(5), DOI: 10.3390/app13053284

Authors: Martin, Gema Fernandez-Blanco; Matia, Fernando; Garcia Gomez-Escalonilla, Lucia; Galan, Daniel; Sanchez-Escribano, M Guadalupe; de la Puente, Paloma; Rodriguez-Cantelar, Mario

Affiliations

Centro Tecnológico y de Investigación - Author
Star Def Logist & Engn, Ctr Tecnol & Invest, Calle Marcelino Camacho 24, Madrid 28938, Spain - Author
Univ Monterrey, Lab Human Cognit & Brain Studies, Ave Ignacio Morones Prieto 4500 Pte, San Pedro Garza Garcia 66238, Mexico - Author
Univ Politecn Madrid, Ctr Automat & Robot, UPM, CSIC, Calle Jose Gutierrez Abascal 2, Madrid 28006, Spain - Author
Universidad Politécnica de Madrid - Author
Universidad Politécnica de Madrid , Universidad de Monterrey - Author
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Abstract

Personal assistants and social robotics have evolved significantly in recent years thanks to the development of artificial intelligence and affective computing. Today’s main challenge is achieving a more natural and human interaction with these systems. Integrating emotional models into social robotics is necessary to accomplish this goal. This paper presents an emotional model whose design has been supervised by psychologists, and its implementation on a social robot. Based on social psychology, this dimensional model has six dimensions with twelve emotions. Fuzzy logic has been selected for defining: (i) how the input stimuli affect the emotions and (ii) how the emotions affect the responses generated by the robot. The most significant contribution of this work is that the proposed methodology, which allows engineers to easily adapt the robot personality designed by a team of psychologists. It also allows expert psychologists to define the rules that relate the inputs and outputs to the emotions, even without technical knowledge. This methodology has been developed and validated on a personal assistant robot. It consists of three input stimuli, (i) the battery level, (ii) the brightness of the room, and (iii) the touch of caresses. In a simplified implementation of the general model, these inputs affect two emotions that generate an externalized emotional response through the robot’s heartbeat, facial expression, and tail movement. The three experiments performed verify the correct functioning of the emotional model developed, demonstrating that stimuli, independently or jointly, generate changes in emotions that, in turn, affect the robot’s responses.

Keywords

dynamic modelemotional modelexpressionsfuzzy logicrobotic personalitysoftware architectureDynamic modelEmotional modelFuzzy logicRecognitionRobotic personalitySocial robotSoftware architecture

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Applied Sciences-Basel due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2023, it was in position 44/181, thus managing to position itself as a Q1 (Primer Cuartil), in the category Engineering, Multidisciplinary.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 4.9, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Oct 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-10-29, the following number of citations:

  • WoS: 4
  • Scopus: 5

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-10-29:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 22.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 22 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 8.
  • The number of mentions in news outlets: 1 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/81695/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 153
  • Downloads: 30

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Mexico.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Fernández-Blanco Martín G) and Last Author (RODRIGUEZ CANTELAR, MARIO).

the authors responsible for correspondence tasks have been Fernández-Blanco Martín G and GALAN VICENTE, DANIEL.