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Recently, interactive robots have been widely used around the world. In the field of this research, nonverbal communication is expected to play an important role in interactions between humans and robots. We hypothesized that if a robot maintains a comfortable distance to humans they will be more readily accepted. Generally, the idea of personal space (PS) is defined as the invisible boundary between humans, modifiable by intimacy. If violated the lack of personal space creates a feeling of discomfort. Human-robot personal space is not necessarily the same as human-human personal space. We focus on the human-robot personal space and seek to understand how people experience violation of personal space by robots. Previous studies investigated how people feel when a robot violated their personal space by observing their heart rate. However, specific feelings are difficult to determine just by using heart rate. This paper investigates the emotions generated when a robot moves into someone's personal space by using an emotion estimation method, which maps values obtained from heartbeat and brain waves to Russell's circumplex model of affect. A significant difference in the feeling of high valence and low arousal found between inside the personal space and outside the personal space. Further, a significant difference in the feeling of high arousal five seconds before and after the robot stopped was found between groups with different degrees of the person's interest level for robots. These results show the effectiveness of using biological signal based emotion estimation to evaluate the impression of a robot at the boundary of personal space.
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