As robotic agents become increasingly pervasive in our lives, recent works have shown promising results on the use of emotions on social drones. However, further research is needed to determine the appropriateness of these emotions in various contexts. We here investigate the appropriateness of seven drone emotional states. In a series of six workshops (\(N{=}30\)) consisting of both individual and group activities, we studied emotion appropriateness for six drone metaphors across the two most popular and radically different domains for Human–Drone Interaction namely: Emergency and Entertainment. Within diverse situations of interactions, participants were able to identify the appropriateness of each emotion. Our results describe how each emotion was found both appropriate and inappropriate depending on context. We provide insights into unique opportunities generated by the perceived emotion appropriateness, depending on different roles of drone emotions in interactions with people. We conclude with design considerations for future social robotic agents, including the importance of using a broad range of emotions, the use of a neutral expression, the temporality of emotions, and novel applications to interaction design. This work contributes to the understanding of the inner workings of emotion appropriateness in drones, providing researchers with a starting point for future work on social flying robots.

随着机器人代理在我们的生活中变得越来越普遍，最近的研究在社交无人机上使用情感方面取得了可喜的成果。然而，需要进一步的研究来确定这些情绪在不同情况下的适当性。我们在这里研究七种无人机情绪状态的适当性。在由个人和团体活动组成的一系列六个研讨会（\(N{=}30\)）中，我们研究了人机交互两个最流行且截然不同的领域中六种无人机隐喻的情感适当性，即：紧急情况和娱乐。在不同的互动情境中，参与者能够识别每种情绪的适当性。我们的结果描述了如何根据上下文发现每种情绪是适当的还是不适当的。根据无人机情绪在与人互动中的不同作用，我们提供了对感知情绪适当性所产生的独特机会的见解。我们总结了未来社交机器人代理的设计考虑因素，包括使用广泛情感的重要性、中性表达的使用、情感的暂时性以及交互设计的新颖应用。这项工作有助于理解无人机情绪适当性的内部运作方式，为研究人员未来社交飞行机器人的工作提供了一个起点。