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Table 5 Gestural sequences with agreement among evaluators and their corresponding SIRE values

From: Towards expressive musical robots: a cross-modal framework for emotional gesture, voice and music

Emotion Human voice (%) Robot gesture (%) Robot music (%) S I R E
Happiness 43 62 6 0.72 0.2 0.22 0.73
Sadness 95 76 76 0.12 0.44 0.72 0.42
Anger 95 86 27 0.71 0.46 0.04 0.73
Fear 33 43 53 0.95 1 0.13 0.37
  1. Low scores for happiness and anger in music may be explained by the difficulty of the musical instrument (theremin) to express these emotions in general.