# A Case Study on the Acceptance of a Humanoid Robotic Head Employed in Three Public Spaces

arXiv: https://arxiv.org/abs/2607.24113 · HTML: https://mlsanity.com/paper/2607.24113/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 50 references that are in the map.
- First posted on arXiv 27 Jul 2026.

## Builds on (most cited first, 6 of 6)

- [XTTS: a Massively Multilingual Zero-Shot Text-to-Speech Model](https://mlsanity.com/paper/2406.04904/) (2024)
- [FaceXHuBERT: Text-less Speech-driven E(X)pressive 3D Facial Animation Synthesis Using Self-Supervised Speech Representation Learning](https://mlsanity.com/paper/2303.05416/) (2023)
- [An Android Robot Head as Embodied Conversational Agent](https://mlsanity.com/paper/2305.10945/) (2023)
- [Comparing an android head with its digital twin regarding the dynamic expression of emotions](https://mlsanity.com/paper/2309.10146/) (2023)
- [Conversations with Andrea: Visitors' Opinions on Android Robots in a Museum](https://mlsanity.com/paper/2506.22466/) (2025)
- [Can a Humanoid Robot be part of the Organizational Workforce? A User Study Leveraging Sentiment Analysis](https://mlsanity.com/paper/1905.08937/) (2019)

## Abstract (arXiv)

Previous research has shown that a human-like robot's acceptance heavily depends on the setting in which it operates and its ability to perform relevant tasks. This paper, first, reports on how our robot processes natural language to generate a multimodal, verbal response integrating emotional expressions based on an emotion simulation backend. Then, it describes how visitors were invited to speak with our robot in their own language at three different, public locations, where the robot was running continuously for several days. The TAM2 questionnaire results reveal that on average users were motivated to use the robot and found it rather useful and easy to use regardless of the specific location. However, public spaces like the tourist information and the city library seem to be a better fit for our interactive, robotic head than an office environment such as the building authority, where the willingness to interact was lower. Overall, the robot's multi-lingual responses were very much appreciated, but every fifth user found the response time too slow impeding the dialog flow, which remains to be improved in future work.