Fig. 4.

Predicting the quality of interaction. The red line indicates an automatic assessment of the quality of interaction between children and QRIO based on haptic sensing. Blue lines indicate human assessment (by four independent coders) of the quality of interaction by using the continuous audience response method. (A) A session begins with QRIO waking up, attracting the children's interest. (B) During the music time in the classroom, children play with the robot. (C) Children are getting tired of the music time and losing interest in the robot. (D) Children put a blanket on the robot after it has laid down on the floor preparing for the end of a session.