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Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
Pose estimation is an important technique for nonverbal human-robot interaction. That said, the presence of a camera in a person's space raises privacy concerns and could lead to distrust of the robot. In this paper, we propose a…
Robots can support humans in tedious tasks, as well as provide social support. However, the decision-making and behavior of robots is not always clear to the human interaction partner. In this work, we discuss the opportunity of using…
Intuitively, obedience -- following the order that a human gives -- seems like a good property for a robot to have. But, we humans are not perfect and we may give orders that are not best aligned to our preferences. We show that when a…
Household robots boasting mobility, more sophisticated sensors, and powerful processing models have become increasingly prevalent in the commercial market. However, these features may expose users to unwanted privacy risks, including…
Socially assistive robots have the potential to improve group dynamics when interacting with groups of people in social settings. This work contributes to the understanding of those dynamics through a user study of trust dynamics in the…
Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…
We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to actuate an "offering" gesture, subtly extending the tray of…
Touch is a key part of interaction and communication between humans, but has still been little explored in human-robot interaction. In this work, participants were asked to approach and touch a humanoid robot on the hand (Nao - 26…
Social robots need to understand the affective state of the humans with whom they interact. Successful interactions require understanding mood and emotion in the short term, and personality and attitudes over longer periods. Social robots…
Estimating the engagement is critical for human - robot interaction. Engagement measures typically rely on the dynamics of the social signals exchanged by the partners, especially speech and gaze. However, the dynamics of these signals is…
Uncertainty inherently exists in the autonomous decision-making process of robots. Involving humans in resolving this uncertainty not only helps robots mitigate it but is also crucial for improving human-robot interactions. However, in…
The sense of family connectedness may support positive outcomes including individual well-being, resilience, and healthy family functioning. However, as technologies advance, they often replace human-human interactions instead of nurturing…
Recent advancements in robot capabilities have enabled them to interact with people in various human-social environments (HSEs). In many of these environments, the perception of the robot often depends on its capabilities, e.g., task…
This study with 40 high-school students demonstrates the high influence of a social educational robot on students' decision-making for a set of eight true-false questions on electric circuits, for which the theory had been covered in the…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
With the advent of AI technologies, humans and robots are increasingly teaming up to perform collaborative tasks. To enable smooth and effective collaboration, the topic of value alignment (operationalized herein as the degree of dynamic…
Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…
Human trust plays a crucial role in the effectiveness of human-robot collaboration. Despite its significance, the development and maintenance of an optimal trust level are obstructed by the complex nature of influencing factors and their…