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In this paper, we investigate the impact the contingency of robot feedback may have on the quality of verbal human-robot interaction. In order to assess not only what the effects are but also what they are caused by, we carried out experiments in which naïve participants instructed the humanoid robot iCub on a set of shapes and on a stacking task in two conditions, once with socially contingent, nonverbal feedback implemented in response to different gaze and demonstrating behaviors of thedoi:10.1109/cts.2013.6567231 dblp:conf/cts/FischerLSNWR13 fatcat:vqq6kogbqzdbzfxjsvmrsmq5wq