Human-Robot Interaction Design

Foundational works in HRI

Pillar 1: Understanding users

Treating objects as agents with mental states

• Nass, C., Steuer, J., & Tauber, E. R. (1994). Computers are social actors. In Proceedings of the SIGCHI conference on Human factors in computing systems, pp. 72-78.Download Nass, C., Steuer, J., & Tauber, E. R. (1994). Computers are social actors. In Proceedings of the SIGCHI conference on Human factors in computing systems, pp. 72-78.
• Gambino, A., Fox, J., & Ratan, R. A. (2020). Building a stronger CASA: Extending the computers are social actors paradigm. Human-Machine Communication, 1, 71-85.Download Gambino, A., Fox, J., & Ratan, R. A. (2020). Building a stronger CASA: Extending the computers are social actors paradigm. Human-Machine Communication, 1, 71-85.
• Malle, B. F., Scheutz, M., Forlizzi, J., & Voiklis, J. (2016). Which robot am I thinking about? The impact of action and appearance on people's evaluations of a moral robot. In 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 125-132). IEEE.Download Malle, B. F., Scheutz, M., Forlizzi, J., & Voiklis, J. (2016). Which robot am I thinking about? The impact of action and appearance on people's evaluations of a moral robot. In 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 125-132). IEEE.

Anthropomorphism

• Fink, J. (2012). Anthropomorphism and human likeness in the design of robots and human-robot interaction. In International conference on social robotics (pp. 199-208). Springer, Berlin, Heidelberg. Chicago Download Fink, J. (2012). Anthropomorphism and human likeness in the design of robots and human-robot interaction. In International conference on social robotics (pp. 199-208). Springer, Berlin, Heidelberg. Chicago 

Studies in social navigation

• Mavrogiannis, C., Alves-Oliveira, P., Thomason, W., & Knepper, R. A. (2022). Social momentum: Design and evaluation of a framework for socially competent robot navigation. ACM Transactions on Human-Robot Interaction (THRI), 11(2), 1-37.Download Mavrogiannis, C., Alves-Oliveira, P., Thomason, W., & Knepper, R. A. (2022). Social momentum: Design and evaluation of a framework for socially competent robot navigation. ACM Transactions on Human-Robot Interaction (THRI), 11(2), 1-37.
• Torre, I., Linard, A., Steen, A., Tumová, J., & Leite, I. (2021). Should robots chicken? how anthropomorphism and perceived autonomy influence trajectories in a game-theoretic problem. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 370-379).Download Torre, I., Linard, A., Steen, A., Tumová, J., & Leite, I. (2021). Should robots chicken? how anthropomorphism and perceived autonomy influence trajectories in a game-theoretic problem. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 370-379).
• Yeh, A., Ratsamee, P., Kiyokawa, K., Uranishi, Y., Mashita, T., Takemura, H., Fjeld, M., & Obaid, M. (2017). Exploring Proxemics for Human-Drone Interaction. In Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17) (pp. 81–88). Association for Computing Machinery.Links to an external site.Links to an external site.
• Obaid, M., Sandoval, E. B., Złotowski, J., Moltchanova, E., Basedow, C. A., & Bartneck, C. (2016). Stop! That is close enough. How body postures influence human-robot proximity. In 2016 25th IEEE international symposium on robot and human interactive communication (RO-MAN) (pp. 354-361). IEEE.Links to an external site.

Verbal communication with robots

• Fernández-Rodicio, E., Castro-González, Á., Alonso-Martín, F., Maroto-Gómez, M., & Salichs, M. Á. (2020). Modelling multimodal dialogues for social robots using communicative acts. Sensors, 20(12), 3440.Download Fernández-Rodicio, E., Castro-González, Á., Alonso-Martín, F., Maroto-Gómez, M., & Salichs, M. Á. (2020). Modelling multimodal dialogues for social robots using communicative acts. Sensors, 20(12), 3440.

Nonverbal communication with robots

• Kwon, M., Huang, S. H., & Dragan, A. D. (2018). Expressing robot incapability. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (pp. 87-95).Download Kwon, M., Huang, S. H., & Dragan, A. D. (2018). Expressing robot incapability. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (pp. 87-95).
• Thiessen, R., Rea, D. J., Garcha, D. S., Cheng, C., & Young, J. E. (2019). Infrasound for HRI: a robot using low-frequency vibrations to impact how people perceive its actions. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 11-18). IEEE.Download Thiessen, R., Rea, D. J., Garcha, D. S., Cheng, C., & Young, J. E. (2019). Infrasound for HRI: a robot using low-frequency vibrations to impact how people perceive its actions. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 11-18). IEEE.
• Fischer, K., Jung, M., Jensen, L. C., & aus der Wieschen, M. V. (2019). Emotion expression in HRI–when and why. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 29-38). IEEE.Download Fischer, K., Jung, M., Jensen, L. C., & aus der Wieschen, M. V. (2019). Emotion expression in HRI–when and why. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 29-38). IEEE.
• Gillet, S., Cumbal, R., Pereira, A., Lopes, J., Engwall, O., & Leite, I. (2021). Robot gaze can mediate participation imbalance in groups with different skill levels. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 303-311).Download Gillet, S., Cumbal, R., Pereira, A., Lopes, J., Engwall, O., & Leite, I. (2021). Robot gaze can mediate participation imbalance in groups with different skill levels. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 303-311).
• Leite, I., Pereira, A., Martinho, C., & Paiva, A. (2008). Are emotional robots more fun to play with?. In RO-MAN 2008-The 17th IEEE International Symposium on Robot and Human Interactive Communication (pp. 77-82). IEEE.Download Leite, I., Pereira, A., Martinho, C., & Paiva, A. (2008). Are emotional robots more fun to play with?. In RO-MAN 2008-The 17th IEEE International Symposium on Robot and Human Interactive Communication (pp. 77-82). IEEE.
• Orthmann, B., Leite, I., Bresin, R., & Torre, I. (2023). Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction. ACM Transactions on Human-Robot Interaction, 12(4), 1-26.Download Orthmann, B., Leite, I., Bresin, R., & Torre, I. (2023). Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction. ACM Transactions on Human-Robot Interaction, 12(4), 1-26.

Trust and trust repair

• Hancock, P. A., Billings, D. R., Schaefer, K. E., Chen, J. Y., De Visser, E. J., & Parasuraman, R. (2011). A meta-analysis of factors affecting trust in human-robot interaction. Human factors, 53(5), 517-527.Download Hancock, P. A., Billings, D. R., Schaefer, K. E., Chen, J. Y., De Visser, E. J., & Parasuraman, R. (2011). A meta-analysis of factors affecting trust in human-robot interaction. Human factors, 53(5), 517-527.
• Natarajan, M., & Gombolay, M. (2020). Effects of anthropomorphism and accountability on trust in human robot interaction. In Proceedings of the 2020 ACM/IEEE international conference on human-robot interaction (pp. 33-42).Download Natarajan, M., & Gombolay, M. (2020). Effects of anthropomorphism and accountability on trust in human robot interaction. In Proceedings of the 2020 ACM/IEEE international conference on human-robot interaction (pp. 33-42).
• Stower, R., Calvo-Barajas, N., Castellano, G., & Kappas, A. (2021). A meta-analysis on children’s trust in social robots. International Journal of Social Robotics, 13(8), 1979-2001.Download Stower, R., Calvo-Barajas, N., Castellano, G., & Kappas, A. (2021). A meta-analysis on children’s trust in social robots. International Journal of Social Robotics, 13(8), 1979-2001.
• Robinette, P., Li, W., Allen, R., Howard, A. M., & Wagner, A. R. (2016). Overtrust of robots in emergency evacuation scenarios. In 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 101-108). IEEE.Download Robinette, P., Li, W., Allen, R., Howard, A. M., & Wagner, A. R. (2016). Overtrust of robots in emergency evacuation scenarios. In 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 101-108). IEEE.
• Tolmeijer, S., Weiss, A., Hanheide, M., Lindner, F., Powers, T. M., Dixon, C., & Tielman, M. L. (2020). Taxonomy of trust-relevant failures and mitigation strategies. In Proceedings of the 2020 acm/ieee international conference on human-robot interaction (pp. 3-12).Download Tolmeijer, S., Weiss, A., Hanheide, M., Lindner, F., Powers, T. M., Dixon, C., & Tielman, M. L. (2020). Taxonomy of trust-relevant failures and mitigation strategies. In Proceedings of the 2020 acm/ieee international conference on human-robot interaction (pp. 3-12).
• Green, H. N., Islam, M. M., Ali, S., & Iqbal, T. (2022). Who's laughing NAO? examining perceptions of failure in a humorous robot partner. In 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 313-322). IEEE.Download Green, H. N., Islam, M. M., Ali, S., & Iqbal, T. (2022). Who's laughing NAO? examining perceptions of failure in a humorous robot partner. In 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 313-322). IEEE.

Pillar 2: Designing robots

• Nanavati, A., Alves-Oliveira, P., Schrenk, T., Gordon, E. K., Cakmak, M., & Srinivasa, S. S. (2023). Design principles for robot-assisted feeding in social contexts. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 24-33).Download Nanavati, A., Alves-Oliveira, P., Schrenk, T., Gordon, E. K., Cakmak, M., & Srinivasa, S. S. (2023). Design principles for robot-assisted feeding in social contexts. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 24-33).
• Berzuk, J. M., & Young, J. E. (2022). More than words: a framework for describing human-robot dialog designs. In 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 393-401). IEEE.Download Berzuk, J. M., & Young, J. E. (2022). More than words: a framework for describing human-robot dialog designs. In 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 393-401). IEEE.
• Moharana, S., Panduro, A. E., Lee, H. R., & Riek, L. D. (2019). Robots for joy, robots for sorrow: community based robot design for dementia caregivers. In 2019 14th ACM/IEEE international conference on human-robot interaction (HRI) (pp. 458-467). IEEE.Download Moharana, S., Panduro, A. E., Lee, H. R., & Riek, L. D. (2019). Robots for joy, robots for sorrow: community based robot design for dementia caregivers. In 2019 14th ACM/IEEE international conference on human-robot interaction (HRI) (pp. 458-467). IEEE.
• Tennent, H., Shen, S., & Jung, M. (2019). Micbot: A peripheral robotic object to shape conversational dynamics and team performance. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 133-142). IEEE.Download Tennent, H., Shen, S., & Jung, M. (2019). Micbot: A peripheral robotic object to shape conversational dynamics and team performance. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 133-142). IEEE.
• Hu, Y., & Hoffman, G. (2019). Using skin texture change to design emotion expression in social robots. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 2-10). IEEE.Download Hu, Y., & Hoffman, G. (2019). Using skin texture change to design emotion expression in social robots. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 2-10). IEEE.
• Alves-Oliveira, P., Arriaga, P., Paiva, A., & Hoffman, G. (2021). Children as robot designers. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 399-408).Download Alves-Oliveira, P., Arriaga, P., Paiva, A., & Hoffman, G. (2021). Children as robot designers. In Proceedings of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (pp. 399-408).
• Hoffman, G., & Ju, W. (2014). Designing robots with movement in mind. Journal of Human-Robot Interaction, 3(1), 91-122.Download Hoffman, G., & Ju, W. (2014). Designing robots with movement in mind. Journal of Human-Robot Interaction, 3(1), 91-122.
• Obaid, M., Baykal, G. E., Yantaç, A. E., & Barendregt, W. (2018). Developing a prototyping method for involving children in the design of classroom robots. International Journal of Social Robotics, 10, 279-291.Links to an external site.
• Obaid, M., Baykal, G. E., Kırlangıc, G., Göksun, T., & Yantaç, A. E. (2024). Collective co-design activities with children for designing classroom robots. In Proceedings of the 4th African Human Computer Interaction Conference (AfriCHI '23) (pp. 229–237). Association for Computing Machinery.Links to an external site.

Pillar 3: Developing robotic systems

• Schoen, A., Sullivan, D., Zhang, Z. D., Rakita, D., & Mutlu, B. (2023). Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 594-602).Download Schoen, A., Sullivan, D., Zhang, Z. D., Rakita, D., & Mutlu, B. (2023). Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 594-602).
• Das, D., Banerjee, S., & Chernova, S. (2021). Explainable AI for robot failures: Generating explanations that improve user assistance in fault recovery. In Proceedings of the 2021 ACM/IEEE international conference on human-robot interaction (pp. 351-360).Download Das, D., Banerjee, S., & Chernova, S. (2021). Explainable AI for robot failures: Generating explanations that improve user assistance in fault recovery. In Proceedings of the 2021 ACM/IEEE international conference on human-robot interaction (pp. 351-360).

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How to conduct HRI studies and participatory design

• Axelsson, M., Bodala, I. P., & Gunes, H. (2021). Participatory design of a robotic mental well-being coach. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) (pp. 1081-1088). IEEE.Download Axelsson, M., Bodala, I. P., & Gunes, H. (2021). Participatory design of a robotic mental well-being coach. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) (pp. 1081-1088). IEEE.
• Hoffman, G., & Zhao, X. (2020). A primer for conducting experiments in human–robot interaction. ACM Transactions on Human-Robot Interaction (THRI), 10(1), 1-31.Download Hoffman, G., & Zhao, X. (2020). A primer for conducting experiments in human–robot interaction. ACM Transactions on Human-Robot Interaction (THRI), 10(1), 1-31.

Ethics

• Winkle, K., McMillan, D., Arnelid, M., Harrison, K., Balaam, M., Johnson, E., & Leite, I. (2023). Feminist human-robot interaction: Disentangling power, principles and practice for better, more ethical HRI. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 72-82).Download Winkle, K., McMillan, D., Arnelid, M., Harrison, K., Balaam, M., Johnson, E., & Leite, I. (2023). Feminist human-robot interaction: Disentangling power, principles and practice for better, more ethical HRI. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (pp. 72-82).
• Lacey, C., & Caudwell, C. (2019). Cuteness as a ‘dark pattern’in home robots. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 374-381). IEEE.Download Lacey, C., & Caudwell, C. (2019). Cuteness as a ‘dark pattern’in home robots. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (pp. 374-381). IEEE.
• Ljungblad, S., Serholt, S., Milosevic, T., Bhroin, N. N., Nørgård, R. T., Lindgren, P., ... & Obaid, M. (2018). Critical robotics: exploring a new paradigm. In Proceedings of the 10th Nordic Conference on Human-Computer Interaction (pp. 972-975).Download Ljungblad, S., Serholt, S., Milosevic, T., Bhroin, N. N., Nørgård, R. T., Lindgren, P., ... & Obaid, M. (2018). Critical robotics: exploring a new paradigm. In Proceedings of the 10th Nordic Conference on Human-Computer Interaction (pp. 972-975).
• Torre, I., Lagerstedt, E., Dennler, N., Seaborn, K., Leite, I., & Székely, É. (2023). Can a gender-ambiguous voice reduce gender stereotypes in human-robot interactions?. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (pp. 106-112). IEEE.Download Torre, I., Lagerstedt, E., Dennler, N., Seaborn, K., Leite, I., & Székely, É. (2023). Can a gender-ambiguous voice reduce gender stereotypes in human-robot interactions?. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (pp. 106-112). IEEE.
• Williams, T., Matuszek, C., Jokinen, K., Korpan, R., Pustejovsky, J., & Scassellati, B. (2023). Voice in the machine: Ethical considerations for language-capable robots. Communications of the ACM, 66(8), 20-23.Download Williams, T., Matuszek, C., Jokinen, K., Korpan, R., Pustejovsky, J., & Scassellati, B. (2023). Voice in the machine: Ethical considerations for language-capable robots. Communications of the ACM, 66(8), 20-23.

Robots in society

• Pelikan, H. R., Reeves, S., & Cantarutti, M. N. (2024, March). Encountering Autonomous Robots on Public Streets. In Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (pp. 561-571).Links to an external site.
• Fong, T., Nourbakhsh, I. and Dautenhahn, K. (2003). "A survey of socially interactive robots." Robotics and autonomous systems 42(3), pp. 143-166.Download Fong, T., Nourbakhsh, I. and Dautenhahn, K. (2003). "A survey of socially interactive robots." Robotics and autonomous systems 42(3), pp. 143-166.
• Dautenhahn, K. (2003). Roles and functions of robots in human society: implications from research in autism therapy. Robotica, 21(4), 443-452.Download Dautenhahn, K. (2003). Roles and functions of robots in human society: implications from research in autism therapy. Robotica, 21(4), 443-452.
• Baraka, K., Alves-Oliveira, P., & Ribeiro, T. (2020). An extended framework for characterizing social robots. In: Human-Robot Interaction (pp. 21-64). Springer, Cham.Download Baraka, K., Alves-Oliveira, P., & Ribeiro, T. (2020). An extended framework for characterizing social robots. In: Human-Robot Interaction (pp. 21-64). Springer, Cham.
• Forlizzi, Jodi. "How robotic products become social products: an ethnographic study of cleaning in the home." 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 2007.Download Forlizzi, Jodi. "How robotic products become social products: an ethnographic study of cleaning in the home." 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 2007.
• Šabanović, S. (2010). Robots in society, society in robots: Mutual shaping of society and technology as a framework for social robot design. International Journal of Social Robotics, 2(4), 439-450.Download Šabanović, S. (2010). Robots in society, society in robots: Mutual shaping of society and technology as a framework for social robot design. International Journal of Social Robotics, 2(4), 439-450.
• Ljungblad, S. (2023). Applying “Designerly Framing” to Understand Assisted Feeding as Social Aesthetic Bodily Experiences. ACM Transactions on Human-Robot Interaction, 12(2), 1-23.Links to an external site.