People follow motivation-structural rules when they react to synthetised sounds.

Emotionally expressive vocalizations can elicit approach-avoidance responses in humans and non-human animals. We investigated whether artificially generated sounds have similar effects on humans. We assessed whether subjects' reactions were linked to acoustic properties, and associated valence and intensity. We generated 343 artificial sounds with differing call lengths, fundamental frequencies and added acoustic features across 7 categories and 3 levels of biological complexity. We assessed the hypothetical behavioural response using an online questionnaire with a manikin task, in which 172 participants indicated whether they would approach or withdraw from an object emitting the sound. (1) Quieter sounds elicited approach, while loud sounds were associated with avoidance. (2) The effect of pitch was modulated by category, call length and loudness. (2a) Low-pitched sounds in complex sound categories prompted avoidance, while in other categories they elicited approach. (2b) Higher pitch in loud sounds had a distancing effect, while higher pitch in quieter sounds prompted approach. (2c) Longer sounds promoted avoidance, especially at high frequencies. (3) Sounds with higher intensity and negative valence elicited avoidance. We conclude that biologically based acoustic signals can be used to regulate the distance between social robots and humans, which can provide an advantage in interactive scenarios.