{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T04:02:05Z","timestamp":1780286525150,"version":"3.54.0"},"reference-count":41,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2026,5,31]],"date-time":"2026-05-31T00:00:00Z","timestamp":1780185600000},"content-version":"vor","delay-in-days":30,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/100016308","name":"Bpifrance","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100016308","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Computer Animation &amp;amp; Virtual"],"published-print":{"date-parts":[[2026,5]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Remote industrial assistance is increasingly mediated through robotic avatars, yet existing telepresence systems provide limited support for non\u2010verbal behaviors such as hesitation, urgency, or emphasis. Manually controlling such expressive motion can increase operator workload. We present a feasibility and system\u2010integration study of a semantic\u2010to\u2010motion telepresence pipeline that interprets expert utterances and scene context into parameterized expressive robot behaviors. The system combines visual grounding with language\u2010based intent inference to produce structured motion descriptors, which are mapped to procedural motion primitives executed in a unity\u2010based digital twin and streamed to a physical robot via ROS. As the semantic control vocabulary for this prototype, we define SAEH (show, alert, encourage, hesitate), a four\u2010class operational vocabulary derived from a thematic review of 104 HRI papers. We implement the approach on a Niryo Ned 1 manipulator and show that it can generate and execute kinematically distinct expressive motion profiles, including deictic, warning, supportive, and hesitant behaviors. The proposed framework partially separates communicative intent from robot\u2010specific execution through parameterized procedural primitives, providing a technical foundation for context\u2010aware expressive telepresence; however, a measured mean end\u2010to\u2010end latency of 10\u2009s currently limits its use to supervisory and asynchronous task loops rather than continuous live interaction.<\/jats:p>","DOI":"10.1002\/cav.70122","type":"journal-article","created":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T03:51:26Z","timestamp":1780285886000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Semantic\u2010to\u2010Motion Digital Twin Framework for Expressive Industrial Avatars in Telepresence"],"prefix":"10.1002","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9258-3909","authenticated-orcid":false,"given":"Damien","family":"Mazeas","sequence":"first","affiliation":[{"name":"Orange Innovation  Cesson\u2010S\u00e9vign\u00e9 Ille\u2010et\u2010Vilaine France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8065-2524","authenticated-orcid":false,"given":"Anthony","family":"Foulonneau","sequence":"additional","affiliation":[{"name":"Orange Innovation  Cesson\u2010S\u00e9vign\u00e9 Ille\u2010et\u2010Vilaine France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3926-7768","authenticated-orcid":false,"given":"J\u00e9r\u00e9my","family":"Lacoche","sequence":"additional","affiliation":[{"name":"Orange Innovation  Cesson\u2010S\u00e9vign\u00e9 Ille\u2010et\u2010Vilaine France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,5,31]]},"reference":[{"key":"e_1_2_14_2_1","doi-asserted-by":"crossref","first-page":"103597","DOI":"10.1016\/j.apergo.2021.103597","article-title":"A Head Mounted Augmented Reality Design Practice for Maintenance Assembly: Toward Meeting Perceptual and Cognitive Needs of AR Users","volume":"98","author":"Ariansyah D.","year":"2022","journal-title":"Applied Ergonomics"},{"issue":"5","key":"e_1_2_14_3_1","doi-asserted-by":"crossref","first-page":"445","DOI":"10.1162\/105474603322761261","article-title":"Toward a Taxonomy of Copresence","volume":"12","author":"Zhao S.","year":"2003","journal-title":"Presence Teleoperators and Virtual Environments"},{"key":"e_1_2_14_4_1","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1145\/3626111.3628184","volume-title":"Proceedings of the 22nd ACM Workshop on Hot Topics in Networks, HotNets'23","author":"Cheng R.","year":"2023"},{"key":"e_1_2_14_5_1","volume-title":"Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems, CHI'25","author":"Ghimire A.","year":"2025"},{"key":"e_1_2_14_6_1","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1145\/3746441.3748238","volume-title":"Proceedings of the 3rd Workshop on Emerging Multimedia Systems, EMS'25","author":"Nahrstedt K.","year":"2025"},{"issue":"4","key":"e_1_2_14_7_1","doi-asserted-by":"crossref","first-page":"1928","DOI":"10.1109\/TCDS.2022.3182811","article-title":"Pick the Right Co\u2010Worker: Online Assessment of Cognitive Ergonomics in Human\u2013Robot Collaborative Assembly","volume":"15","author":"Lagomarsino M.","year":"2023","journal-title":"IEEE Transactions on Cognitive and Developmental Systems"},{"issue":"5","key":"e_1_2_14_8_1","doi-asserted-by":"crossref","first-page":"4172","DOI":"10.1109\/LRA.2025.3547631","article-title":"GPT\u2010Driven Gestures: Leveraging Large Language Models to Generate Expressive Robot Motion for Enhanced Human\u2010Robot Interaction","volume":"10","author":"Roy L.","year":"2025","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"e_1_2_14_9_1","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1177\/02783649241281508","article-title":"Foundation Models in Robotics: Applications, Challenges, and the Future","volume":"44","author":"Firoozi R.","year":"2025","journal-title":"International Journal of Robotics Research"},{"key":"e_1_2_14_10_1","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1109\/ICCAR49639.2020.9108085","volume-title":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","author":"A\u00e9ra\u00efz\u2010Bekkis D.","year":"2020"},{"key":"e_1_2_14_11_1","first-page":"4","volume-title":"2025 20th ACM\/IEEE International Conference on Human\u2010Robot Interaction (HRI)","author":"Leusmann J.","year":"2025"},{"issue":"3","key":"e_1_2_14_12_1","first-page":"18","article-title":"Design and Impact of Hesitation Gestures During Human\u2013Robot Resource Conflicts","volume":"2","author":"Moon A. 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