@inproceedings {pub5636pub5971,
	title = {An Approach to Elicit Human-Understandable Robot Expressions to Support Human-Robot Collaboration},
	author = {Jan Leusmann AND Steeven Villa Salazar AND Thomas Liang AND Chao Wang AND Albrecht Schmidt AND Sven Mayer},
	year = {2025},
	month = {April},
	abstract = {Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute an approach to elicit and design human-understandable robot expressions. We outline the approach in the context of non-humanoid robots. We show that it enabled us to design robot expressions that signal curiosity and interest in getting attention. We paired human mimicking and enactment with research from gesture elicitation in two phases: first, to elicit expressions, and second, to ensure they are understandable. We present an example application through two studies (N=16 \& N=260) of our approach to elicit expressions for a simple 6-DoF robotic arm. Our main contribution is an approach to generate and validate future expressions to be performed by robots supporting human-robot collaboration. Additionally, we reflect upon the pros and cons of our approach.
},
	publisher = {ACM},
	booktitle = {CHI 2025}
}