{"id":"https://openalex.org/W7135023480","doi":"https://doi.org/10.1145/3776734.3794429","title":"Fluid-Xpress: Emotion-Aware Dual-Loop Framework for Empathic Facial Reaction in HRI","display_name":"Fluid-Xpress: Emotion-Aware Dual-Loop Framework for Empathic Facial Reaction in HRI","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7135023480","doi":"https://doi.org/10.1145/3776734.3794429"},"language":"en","primary_location":{"id":"doi:10.1145/3776734.3794429","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.manchester.ac.uk/en/publications/c63850fc-bf6b-43bf-8a69-e76ee16ffeab","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Chen Kang","orcid":"https://orcid.org/0000-0001-8036-4661"},"institutions":[{"id":"https://openalex.org/I115212828","display_name":"Beijing Language and Culture University","ror":"https://ror.org/03te2zs36","country_code":"CN","type":"education","lineage":["https://openalex.org/I115212828"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Kang","raw_affiliation_strings":["Beijing Language and Culture University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8036-4661","affiliations":[{"raw_affiliation_string":"Beijing Language and Culture University, Beijing, China","institution_ids":["https://openalex.org/I115212828"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128863933","display_name":"Madina Alitai","orcid":null},"institutions":[{"id":"https://openalex.org/I115212828","display_name":"Beijing Language and Culture University","ror":"https://ror.org/03te2zs36","country_code":"CN","type":"education","lineage":["https://openalex.org/I115212828"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Madina Alitai","raw_affiliation_strings":["Beijing Language and Culture University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-8358-4736","affiliations":[{"raw_affiliation_string":"Beijing Language and Culture University, Beijing, China","institution_ids":["https://openalex.org/I115212828"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yiting Wang","orcid":"https://orcid.org/0009-0002-7266-9830"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yiting Wang","raw_affiliation_strings":["University of Manchester, Manchester, United Kingdom"],"raw_orcid":"https://orcid.org/0009-0002-7266-9830","affiliations":[{"raw_affiliation_string":"University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128824766","display_name":"Xiaochi Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaochi Cai","raw_affiliation_strings":["Pennsylvania State University, State College, USA"],"raw_orcid":"https://orcid.org/0009-0002-6275-7087","affiliations":[{"raw_affiliation_string":"Pennsylvania State University, State College, USA","institution_ids":["https://openalex.org/I130769515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015347970","display_name":"Ruidong Ma","orcid":"https://orcid.org/0000-0002-8035-5746"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ruidong Ma","raw_affiliation_strings":["Sheffield Hallam University, Sheffield, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-8035-5746","affiliations":[{"raw_affiliation_string":"Sheffield Hallam University, Sheffield, United Kingdom","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128873766","display_name":"Angelo Cangelosi","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Angelo Cangelosi","raw_affiliation_strings":["University of Manchester, Manchester, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-4709-2243","affiliations":[{"raw_affiliation_string":"University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009884132","display_name":"Zhegong Shangguan","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhegong Shangguan","raw_affiliation_strings":["University of Manchester, Manchester, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-7948-0531","affiliations":[{"raw_affiliation_string":"University of Manchester, Manchester, United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I115212828"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50272116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"425","last_page":"429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10667","display_name":"Emotion and Mood Recognition","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.007899999618530273,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12313","display_name":"Emotions and Moral Behavior","score":0.0035000001080334187,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.3000999987125397},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.2888999879360199},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2782000005245209},{"id":"https://openalex.org/keywords/empathy","display_name":"Empathy","score":0.26170000433921814}],"concepts":[{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.5594000220298767},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.3488999903202057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3395000100135803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3172000050544739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31470000743865967},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C2779885105","wikidata":"https://www.wikidata.org/wiki/Q182263","display_name":"Empathy","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.24969999492168427}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3776734.3794429","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/c63850fc-bf6b-43bf-8a69-e76ee16ffeab","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/c63850fc-bf6b-43bf-8a69-e76ee16ffeab","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kang, C, Alitai, M, Wang, Y, Ma, R, Cai, X, Cangelosi, A & Shangguan, Z 2026, Fluid-Xpress: Emotion-Aware Dual-Loop Framework for Empathic Facial Reaction in HRI. in Companion of the 2026 ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery.","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:shura.shu.ac.uk:37180","is_oa":true,"landing_page_url":"http://orcid.org/0000-0001-8036-4661>,","pdf_url":"https://shura.shu.ac.uk/37180/1/Ma-Fluid-XpressEmotion-Aware%28VoR%29.pdf","source":{"id":"https://openalex.org/S4306401600","display_name":"SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71422933","host_organization_name":"Sheffield Hallam University","host_organization_lineage":["https://openalex.org/I71422933"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/c63850fc-bf6b-43bf-8a69-e76ee16ffeab","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/c63850fc-bf6b-43bf-8a69-e76ee16ffeab","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Kang, C, Alitai, M, Wang, Y, Ma, R, Cai, X, Cangelosi, A & Shangguan, Z 2026, Fluid-Xpress: Emotion-Aware Dual-Loop Framework for Empathic Facial Reaction in HRI. in Companion of the 2026 ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery.","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.42585304379463196,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G8588022742","display_name":null,"funder_award_id":"EP/Y029534/1","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1989104072","https://openalex.org/W2016433830","https://openalex.org/W2029589762","https://openalex.org/W2149628368","https://openalex.org/W3009303536","https://openalex.org/W4388623421","https://openalex.org/W4402970301","https://openalex.org/W4407343829","https://openalex.org/W4408608886","https://openalex.org/W4410297669","https://openalex.org/W4410297718","https://openalex.org/W4410297731","https://openalex.org/W4416749078"],"related_works":[],"abstract_inverted_index":{"Large":[0],"Language":[1],"Model":[2],"(LLM)-driven":[3],"social":[4,153],"robots":[5],"face":[6],"two":[7],"key":[8],"challenges:":[9],"inference":[10,73],"latency":[11],"creates":[12],"unnatural":[13],"silences":[14],"during":[15,72,108],"which":[16],"an":[17,40],"expressively":[18],"static":[19],"robot":[20],"appears":[21],"disengaged,":[22],"and":[23,89,96,99,135],"LLMs":[24],"rarely":[25],"account":[26],"for":[27,44,147],"the":[28],"user's":[29],"facial":[30,46],"affect":[31],"as":[32,83],"a":[33,55,76,101],"continuous":[34,69],"evolving":[35],"process.":[36],"We":[37],"present":[38],"Fluid-Xpress,":[39],"emotion-aware":[41,148],"dual-loop":[42,57],"framework":[43,52],"empathic":[45],"reactions":[47],"in":[48,151],"human-robot":[49],"interaction.":[50],"The":[51],"features:":[53],"(1)":[54],"Macro-Micro":[56],"architecture":[58],"that":[59,104,116],"decouples":[60],"real-time":[61],"non-verbal":[62,149],"feedback":[63,150],"from":[64],"LLM":[65],"verbal":[66],"processing,":[67],"enabling":[68],"affective":[70],"backchanneling":[71],"latency;":[74],"(2)":[75],"Temporal":[77],"Affective":[78],"Engine":[79],"using":[80],"metrics":[81],"such":[82],"MSSD":[84],"to":[85,142],"capture":[86],"emotional":[87],"dynamics":[88],"detect":[90],"complex":[91],"states":[92],"like":[93],"cognitive":[94],"overload":[95],"masked":[97],"emotions;":[98],"(3)":[100],"Risk-Adaptive":[102],"Strategy":[103],"prioritizes":[105],"immediate":[106],"intervention":[107],"high-arousal":[109],"states.":[110],"A":[111],"pilot":[112],"study":[113],"(N=8)":[114],"showed":[115],"Fluid-Xpress":[117],"significantly":[118],"improved":[119],"arousal":[120],"stability":[121],"(p":[122,127,132,138],"<":[123,128,133,139],".05),":[124,129],"mood":[125],"improvement":[126],"expression":[130],"awareness":[131],".01),":[134],"perceived":[136],"empathy":[137],".05)":[140],"compared":[141],"baseline,":[143],"providing":[144],"preliminary":[145],"support":[146],"embodied":[152],"robots.":[154]},"counts_by_year":[],"updated_date":"2026-03-14T06:41:57.775601","created_date":"2026-03-13T00:00:00"}