The 3rd International Conference on Human-Robot Personal Relationships (HRPR 2010) is organized and hosted by Leiden University's Institute of Advanced Computer Science. As its two prior editions, it is the main platform to present and discuss studies of personal relationships with artificial partners, their formation, their possibilities and their consequences.

This website offers information about the conference, which features presentations, demonstrations, and artistic installations relating to the topics of the conference. Contact the organizing members if you require further information or assistance. We hope to welcome you in historic Leiden on June 23-24, 2010.
Dr. Maarten H. Lamers, conference chair

The conference proceedings are available from Springer as:

Lamers, MH and Verbeek, FJ (Eds.), Human-Robot Personal Relationships, Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering, LNICST Vol 59, 2011.

Call For Papers

3rd International Conference on Human-Robot Personal Relationships

23-24 June 2010

Organized by the Leiden Institute of Advanced Computer Science,
Leiden University, The Netherlands

The 3rd International Conference on Human-Robot Personal Relationships (HRPR 2010) is the main platform to present and discuss studies of personal relationships with artificial partners, their formation, their possibilities and their consequences. Such personal relationships are increasingly attracting attention from scientific fields as (social) robotics, human-computer interaction, artificial intelligence, psychology, philosophy, sociology.

Researchers, students and practitioners from all segments of the human-robot personal interaction community are invited to submit works and proposals related (but not limited) to the topics

  • robot emotions
  • robot personalities
  • gender approaches
  • affective approaches
  • psychological approaches
  • sociological approaches
  • roboethics
  • philosophical approaches
  • human-robot societies
  • case studies

in any of the following forms

  • original papers, describing original research or design work (4-8 pages, published in proceedings)
  • position papers, posing substantiated opinions or positions on the conference topic (4-8 pages, published in proceedings)
  • extended abstracts, describing original work (2 pages, published in proceedings)
  • workshop proposals
  • demonstrations of running system prototypes
  • artistic installations (possibly combined with an extended abstract).

Submitted papers and extended abstracts will be peer-reviewed using a double-blind procedure, based on technical quality, relevance, significance, and clarity. The language of the conference is English.

Conference Proceedings:

Springer Publishers Accepted papers and extended abstracts are published in the Springer LNICST series (Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering) and included in the SpringerLink online publication database. All preliminary accepted papers will be made available to conference participants on the first conference date.

Important Dates:

March 2, 2010 Submission deadline for workshop proposals and artistic installations
March 16, 2010 Submission deadline for papers, extended abstracts, and demonstrations of running system prototypes
Extended to March 23, 2010
April 27, 2010 Notification of acceptances
May 18, 2010 Submission deadline for final versions and registration of presenting authors
June 22, 2010 Mid-summer evening walking tour of historic Leiden
June 23-24, 2010 Conference dates

Download or Join

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  • download the Call for Papers in PDF format or TXT format
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Conference Venue

City of Leiden (near Amsterdam)

The city of Leiden is well known for its historic downtown with pretty canals, museums, famous university, and lively academic atmosphere. It played an important role in Dutch history and was home to great painters such as Rembrandt and Jan Steen. Leiden University is among the oldest universities of Europe, founded in 1575. Its historic buildings and large student population give Leiden a true academic atmosphere.

Historic Leiden Tulip fields nearby Leiden Jan Steen Rembrandt

Leiden is located in the heart of the Dutch tulip-growing region. Through public transportation it can be reached in only 20 minutes from Amsterdam international airport, in 40 minutes from downtown Amsterdam, and in 20 minutes from historic Delft.

Windmill near Leiden Tulip fields nearby Leiden

Kamerlingh Onnes Building

HRPR 2010 conference room HRPR 2010 conference building HRPR 2010 conference building HRPR 2010 conference building

The conference venue is Leiden University's fully restored Kamerlingh Onnes building, located on a canal in the historic quarter of Leiden. The building once housed the famous experiments of Heike Kamerlingh Onnes, the first physicist to liquefy helium at a temperature of 0.9 Kelvin, for which he was awarded the 1913 Nobel Prize in Physics. The conference takes place in its historic Lorentz Room.

More information about Leiden under section Local Information.

Conference Program

Tuesday June 22, 2010
19:45 - 22:00 Mid-summer evening walking tour of historic Leiden.
Gather under the tree at "De Burcht" (in front of Burgsteeg 14). To get there, pass through the gate next to Burgsteeg 12, and walk straight ahead.
Wednesday June 23, 2010
8:30 - 9:15 Registration & Coffee
9:15 - 9:30 Conference Welcome & Opening
9:30 - 10:00 Towards Towards a Sociological Understanding of Robots as Companions by Ellen van Oost, Darren Reed
10:00 - 10:30 Loving Machines: Theorizing Human and Sociable-Technology Interaction by Glenda Shaw-Garlock
10:30 - 11:00 Talking to robots: On the linguistic construction of personal human-robot relations by Mark Coeckelbergh
11:00 - 11:30 Coffee & Tea
11:30 - 12:00 A Design Process for Lovotics by Hooman Aghaebrahimi Samani, Adrian David Cheok, Mili John Tharakan, Jeffrey Koh, Newton Fernando
12:00 - 13:00 Invited Presentation by Bernt Meerbeek: Designing relationships between humans and products: an applied perspective
13:00 - 14:30 Lunch
14:30 - 15:00 Modeling mixed groups of humans and robots with Reflexive Game Theory by Sergey Tarasenko
15:00 - 15:30 Digital Adultery, "Meta-Anon Widows," Real-World Divorce, and the Need for a Virtual Sexual Ethic by William David Spencer
15:30 - 16:00 Tea & Refreshments
16:00 - 16:30 The Yume Project: Artists and Androids by Michael Honeck, Yan Lin, David Teot, Ping Li, Christine M. Barnes
16:30 - 17:15 Invited Artist Edwin van der Heide: Spatial Sounds (100dB at 100km/h)
20:30 - 22:30 Conference Dinner
Thursday June 24, 2010
9:00 - 9:30 The potential of Socially Assistive Robotics in care for Elderly, a systematic review by Roger Bemelmans, Gert Jan Gelderblom, Pieter Jonker, Luc de Witte
9:30 - 10:00 "Adventures of Harvey" - Use, acceptance of and relationship building with a social robot in a domestic environment by Tineke Klamer, Somaya Ben Allouch, Dirk Heylen
10:00 - 10:30 Investigation on Requirements of Robotic Platforms to Teach Social Skills to Individuals with Autism by Chris Nikolopoulos, Deitra Kuester, Mark Sheehan, Sneha Dhanya
10:30 - 11:00 Coffee & Tea
11:00 - 11:30 From speech to emotional interaction: EmotiRob project by Marc Le Tallec, Sébastien Saint-Aimé, Céline Jost, Jeanne Villaneau, Jean-Yves Antoine, Sabine Letellier-Zarshenas, Brigitte Le-Pévédic, Dominique Duhaut
11:30 - 12:00 Can Children have a Relationship with a Robot? by Tanya Beran, Alejandro Ramirez-Serrano
12:00 - 12:30 Children's Perception and Interpretation of Robots and Robot Behaviour by Sajida Bhamjee, Frances Griffiths, Julie Palmer
12:30 - 13:00 The development of an online research tool to investigate children's social bonds with robots by Dana Nathalie Veenstra, Vanessa Evers
13:00 - 14:30 Lunch
14:30 - 15:30 Keynote Presentation by Kerstin Dautenhahn: What type of social relationships with robots do we need? - Case studies from Human-Robot Interaction research
15:30 - 16:00 Tea & Refreshments
16:00 - 16:30 Using Empathy to Improve Human-Robot Relationships by André Pereira, Iolanda Leite, Samuel Mascarenhas, Carlos Martinho, Ana Paiva
16:30 - 17:00 Interaction between Task Oriented and Affective Information Processing in Cognitive Robotics by Pascal Haazebroek, Saskia van Dantzig, Bernhard Hommel
17:00 - 17:15 Conference Closing

Keynote Speaker

Kerstin Dautenhahn Humanoid robot with artificial skin; University of Hertfordshire Human Cognition and Social Agent Technology, Kerstin Dautenhahn Socially Intelligent Agents, Kerstin Dautenhahn Imitation in Animals and Artifacts, Kerstin Dautenhahn

Kerstin Dautenhahn (keynote speaker)

What type of social relationships with robots do we need? - Case studies from Human-Robot Interaction research

Robots as "helpers", i.e. in the role of assistants and companions are becoming increasingly popular. Such robots can be beneficial in a variety of areas where they may provide physical or cognitive assistance, serve as therapeutic or educational "toys", or just entertain. The future success of such systems will depend on their functionality and efficiency but also on their acceptability, including the need to learn and adapt to changing environments and to respond to users in a manner suitable for the particular task and application area. Research is often assuming that robots that look cute and entertaining will be most suitable for companion robots, hoping that users and robots will develop relationships similar to "friendship" in a human context.
Kerstin will discuss some issues of human-robot relationships in the context of research at University of Hertfordshire that aims at developing robot companions that can carry out useful tasks, and perform these tasks in a manner that is socially acceptable to their users. Here, the primary purpose of the robot is that of an assistant, rather than a "partner". Potential applications of such systems include robots for the care of elderly people or robots as therapeutic "toys". She will illustrate some of this research and point out technical, methodological as well as ethical challenges of human-robot interaction research in the context of different models of human-robot relationships that can be envisaged.
See also LIREC and Aurora Project

Kerstin Dautenhahn pioneered research in robot social learning and imitation, and the study of robots in autism therapy. She has published more than 200 research articles and made countless media appearances promoting her scientific field. As such, she was of great influence to the field of human-robot personal relationships.
She is Professor of Artificial Intelligence in the School of Computer Science at University of Hertfordshire, where she is coordinator of the Adaptive Systems Research Group. Her main areas of research are Human-Robot Interaction, Social Robotics, Socially Intelligent Agents and Artificial Life.
Kerstin has authored and edited several books and frequently organizes international research workshops and conferences. She is Editor in Chief of the journal Interaction Studies, and Associate Editor of the journals Adaptive Behavior, the International Journal of Social Robotics, and IEEE Transactions on Autonomous Mental Development.

Bernt Meerbeek (invited speaker)

Designing relationships between humans and products: an applied perspective

Traditionally, HCI research focused on the usability of computer systems and user interfaces. Nowadays, in a more holistic approach researchers investigate the user experiences of systems and services in a particular context, including not only usability but also aesthetics, hedonics, etcetera. Research into human-robot interaction shows a similar trend - current research in this domain goes beyond the usability of user interaction solutions for robots. What kind of relationships do people want to build with robotic others? What are possible ethical concerns when building relationships with machines?
In his talk, Bernt will address the topic of relationships with machines from the pragmatic and applied perspective of a company. What relationships do people want to have with our products and how can we design for this?

Bernt Meerbeek Bernt Meerbeek works as researcher in the Human Interaction & Experiences department and ExperienceLab research facility of Philips Research Laboratories. His main interests are in user-system interaction, natural interaction solutions, and user-centered innovation methods. Bernt applies this knowledge in a variety of domains, including household appliances, television, and lighting. He worked on the user-interface robot iCat and addressed various Human-Robot Interaction topics. More recent, he investigated how people interact with robotic vacuum cleaners.

Edwin van der Heide (invited artist)

Spatial Sounds (100dB at 100km/h)

Edwin presents the interactive audio installation Spatial Sounds (100dB at 100km/h) by himself and fellow artist Marnix de Nijs in the context of relationship formation between man and autonomous technology. This audio-physical work builds up a physically tangible relationship with the visitor, through a game of attracting and repelling between machine and visitor that determines its sound and movement. The installation was awarded several international artistic prizes and honorary mentions.

Edwin van der Heide Edwin van der Heide is interdisciplinary artist and researcher in the field of sound, space and interaction. His work comprises installations, performances and environments. Often the audience is placed in the middle of the work and challenged to actively explore, interact and relate themselves to it. Edwin lectures at the ArtScience Interfaculty of the Royal Conservatoire and the Royal Arts Academy in The Hague, and is assistant professor at Leiden University. He was Edgard Varèse guest professor at the Technische Universität Berlin (2009) and held numerous international artist-in-residencies since 1995.

Submission Procedures

Workshops, artistic installations, and demonstrations

Proposals for workshops, demonstrations and artistic installations should be described in English within 2 pages and sent to the Program Chair at as a single PDF document. Additional information about proposals may be requested of the author(s) by the Program Committee.

Papers and extended abstracts

Submitted papers and extended abstracts will be peer-reviewed using a double-blind procedure, based on technical quality, relevance, significance, and clarity. All submissions are handled electronically, and must

  • present original, previously unpublished research, design work or positions, not currently under review by another conference or journal
  • be written in English
  • be limited to the described forms and sizes (including figures and references)
  • be formatted according to Springer LNICST style and guidelines (look under "useful links")
  • have all author identification removed from the manuscript to facilitate double-blind review
  • contain the appropriate academic field(s) on the front page
  • be submitted as a single PDF document

When submitting a paper, remove all author identification (names, affiliations, acknowledgments) from it, to facilitate double-blind peer-review. Upon acceptance, the final and published manuscript should include full author identification.

By submitting a paper (including extended abstracts), the author(s) agree that, upon acceptance, they will prepare the final manuscript in time for inclusion in the published proceedings and will present the paper at the conference. A paper will not be published without advance registration of at least one of its authors — one registration covers two papers for those authors who have multiple papers accepted.

Initial submission of papers (including extended abstracts) is done via the HRPR 2010 EasyChair conference system. Authors need an EasyChair account in order to submit a paper. If you do not already have an EasyChair account, you can create one via the above link. Once logged in, you can submit a new paper, or change a prior submission.

Camera-ready uploads: ASSYST

For publication of the accepted papers in the Springer LNICST series, camera-ready manuscripts must be uploaded into the ASSYST article management system.

After notification of paper acceptance, authors receive ASSYST instructions via e-mail. Registration and payment for the conference are not handled via the ASSYST system (see below).

Should you experience issues or difficulties with uploading your manuscript into the ASSYST system, kindly contact Mrs. Gabriella Magyar of the ICST Organization with your questions.


To register for the HRPR 2010 conference, you must:

1. Fill in the PDF or Word registration form

2. E-mail the completed registration form to

3. Pay the appropriate registration fee via the online payment system

Registration fees

Before May 19, 2010
After May 18, 2010
Non-students 225 € 275 €
Non-students without dinner 150 € 200 €
PhD students 175 € 200 €
PhD students without dinner 100 € 125 €
Students without dinner
and photograph
50 € 60 €

All prices are in EURO's (€), excluding creditcard handling fees (approximately 4.5%). Only upon the indication of their academic affiliation and student ID number, full time students at bachelor and master levels are eligible to register at student registration fees. Payment receipts will be included in the conference package.

Full registration includes:
  • participation in conference pre-program
  • participation in conference workshops
  • participation in conference activities
  • midsummer night guided tour of historic Leiden
  • wireless internet connection at conference venue
  • lunches, coffee, tea, refreshments
  • conference dinner
  • group photograph
  • proceedings (only included for presenting authors, excluding student registrations)
Accommodation (hotel) is not included in any registration type.


Foreign visitors to the Netherlands may require visa to enter the country. For information regarding visa requirements, please contact your local Netherlands consulate, or see the webpage of the Dutch Ministry of Foreign Affairs.

On the conference registration form you can indicate that you require an invitation letter for visa purposes. An invitation letter with the Conference Chair’s signature is issued only after the acceptance of the participant's paper, registration and full payment of the conference fee. Please note that:

  • The conference organisers can only issue invitations limited to dates within June 21-26 2010, and only for registered participants.
  • The conference organisers are not authorized to assist with the visa process beyond providing invitation letters. All questions/concerns regarding the status of your visa should be directed to your local Netherlands consulate.
  • All letters of invitation will be sent via regular mail. In most cases, visa offices will not accept faxed or e-mailed invitation letters.

Local Information

Accommodation / Hotel

The conference organization cannot arrange hotel or other accommodations for participants. Leiden University unfortunately does not have guest accommodations available. Participants must find and book their own accommodation.

The Leiden Tourist Information Office maintains a list of hotels. The town of Oegstgeest lies directly connected to Leiden.

Travel to/from Leiden

Amsterdam Airport (called "Schiphol") is located only 20 minutes from Leiden by train. Amsterdam Central Station is only 35 minutes from Leiden by train. Trains run all night. See train departure schedules below.

All Dutch train schedules can be found via the NS Journey Planner (type "Schiphol" for Amsterdam Airport). Leiden Central Station is connected directly by public trains to many cities (no changeover required). Trains generally leave every 15 minutes, but after midnight trains leave once every hour and may take longer to some destinations.

Here are some useful train departure schedules (plus travel times):

The beaches at Noordwijk can be reached from Leiden in 30 minutes via bus-line 40, or in 45 minutes by bicycle.

Getting around

The conference location is in the historic center. The exact address is:

      Kamerlingh Onnes Gebouw
      Room A144 (Lorentz Hall)
      Steenschuur 25
      2311ES Leiden
      (Conference venue on Google Maps)

People in The Netherlands generally speak English. Don't hesitate to ask them for directions.

Downtown Leiden is small enough to traverse on foot. Bicycles can be rented at Leiden Central Station's bicycle shop. Busses and taxi's are available from Leiden Central Station. Bus-tickets come in the form of a "strippenkaart" which can be obtained at Leiden Central Station.

Further information


Organizing Institute

  • Leiden Institute of Advanced Computer Science (LIACS), Leiden University

HRPR Conference Series Initiators

  • Prof. Jaap van den Herik
  • Dr. David Levy

Program Committee

Dr. Maarten Lamers (chair) Leiden University Institute of Advanced Computer Science
Dr. Fons Verbeek (co-chair) Director Imaging & Bioinformatics group, Leiden University
Prof. Ronald Arkin Director Mobile Robot Laboratory, Georgia Institute of Technology
Dr. Joost Broekens Man-Machine Interaction group, Delft University of Technology
Prof. Jaap van den Herik Director Tilburg centre for Creative Computing, Tilburg University
Prof. Bernhard Hommel Director of Cognitive Psychology Unit, Leiden University
Dr. Stefan Kopp Director of Sociable Agents Group, Bielefeld University
Dr. David Levy Author of "Love and Sex with Robots: The Evolution of Human-Robot Relationships"; winner of the 2009 Loebner Prize in Artificial Intelligence
Prof. Cees Midden Human Technology Interaction group, Eindhoven University of Technology
Prof. Bernhard Sendhoff Chief Technology Officer at Honda Research Institute Europe
Dr. Britta Wrede Head of the Hybrid Society research group, Bielefeld University

Technical Support Team

  • Joris Slob M.Sc., Leiden Institute of Advanced Computer Science
  • Joost Elfering, Leiden University Media Technology program
  • Marijke van der Gorp, Leiden University Media Technology program


Dr. Maarten Lamers (Program Chair)

Leiden University Insititute of Advanced Computer Science (LIACS)
Niels Bohrweg 1
2333CA Leiden
The Netherlands

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