University of Hertfordshire

By the same authors

A long-term Human-Robot Proxemic study

Research output: Chapter in Book/Report/Conference proceedingConference contribution


  • 906066

    Accepted author manuscript, 409 KB, PDF document


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Original languageEnglish
Title of host publicationProcs IEEE Int Workshop on Robot and Human Interactive Communication
Subtitle of host publicationRO-MAN 2011
Number of pages6
ISBN (Electronic) 978-1-4577-1572-3
ISBN (Print)978-145771571-6
Publication statusPublished - 2011
EventRO-MAN 2011 - Atlanta, United States
Duration: 31 Jul 20113 Aug 2011


ConferenceRO-MAN 2011
CountryUnited States


A long-term Human-Robot Proxemic (HRP) study was performed using a newly developed Autonomous Proxemic System (APS) for a robot to measure and control the approach distances to the human participants. The main findings were that most HRP adaptation occurred in the first two interaction sessions, and for the remaining four weeks, approach distance preferences remained relatively steady, apart from some short periods of increased distances for some participants. There were indications that these were associated with episodes where the robot malfunctioned, so this raises the possibility of users trust in the robot affecting HRP distance. The study also found that approach distances for humans approaching the robot and the robot approaching the human were comparable, though there were indications that humans preferred to approach the robot more closely than they allowed the robot to approach them in a physically restricted area. Two participants left the study prematurely, stating they were bored with the repetitive experimental procedures. This highlights issues related to the often incompatible demands of keeping experimental controlled conditions vs. having realistic, engaging and varied HRI trial scenarios.


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