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. 2018 Feb 7;5:6. doi: 10.3389/frobt.2018.00006

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Copyright © 2018 Cominelli, Mazzei and De Rossi.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Results of the HRI experiment with FACE integrating SEAI in condition 3. Columns are the four scenes. Rows are, in order: winner ID, bp (v), bp (a), es, and sm. Effectively executed v′ and a′ are, respectively, colored as red and green lines, while bp values not affected by es are represented as black lines to allow comparison. In es, we pointed out the es (v,a) values that caused the creation of a sm. In sm we reported the values of SMs in the moment in which they have been created by the system. IDs colors are indicated in the sm chart. Time t is expressed in seconds.