Novel musical notation for emotional sound expression of interactive robot

Through the voice, people can understand each other´s emotional states. Since the auditory component has an older communicative history than the visual, the expression using sound is more direct primarily. Therefore, sound expression should be one of important part of human-robot interaction research. In this paper, we propose a musical notation based on spectrogram. With this notation, we designed 30 patterns of sound for expression of the English teacher robot.