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Robots already change our private and professional life by working together with humans in various domains. Evoked by this increasing trend, great variability exists in terms of robots and interaction scenarios. This has boosted research regarding shaping factors of human\u2013robot interaction (HRI). Nevertheless, this variety hinders the comparability and the generalizability of insights. What is needed for efficient research is a structured approach that allows the analysis of superordinate attributes, making previous HRI research comparable, revealing research gaps and thus guiding future research activities. Based on the review of previous HRI frameworks we developed a new HRI taxonomy that (1) takes into account the human, the robot, the interaction and the context of the HRI, (2) is applicable to various HRI scenarios and (3) provides predefined categories to enable structured comparisons of different HRI scenarios. A graphical representation of the taxonomy, including all possible classifications, eases the application to specific HRI scenarios. To demonstrate the use and value of this taxonomy, it is applied to different studies in HRI in order to identify possible reasons for contrasting results. The exemplified applications of the taxonomy underline its value as a basis for reviews and meta-analyses. Moreover, the taxonomy offers a framework for future HRI research as it offers guidance for systematic variations of distinctive variables in HRI.\n<\/jats:p>","DOI":"10.1007\/s12369-020-00666-5","type":"journal-article","created":{"date-parts":[[2020,6,29]],"date-time":"2020-06-29T16:04:35Z","timestamp":1593446675000},"page":"833-849","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":208,"title":["A Taxonomy to Structure and Analyze Human\u2013Robot Interaction"],"prefix":"10.1007","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2086-774X","authenticated-orcid":false,"given":"Linda","family":"Onnasch","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7243-4882","authenticated-orcid":false,"given":"Eileen","family":"Roesler","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,6,29]]},"reference":[{"key":"666_CR1","volume-title":"Leonardo\u2019s lost robots","author":"M Rosheim","year":"2006","unstructured":"Rosheim M (2006) Leonardo\u2019s lost robots. 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