{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T01:13:56Z","timestamp":1774314836627,"version":"3.50.1"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2023,6,25]],"date-time":"2023-06-25T00:00:00Z","timestamp":1687651200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,6,25]],"date-time":"2023-06-25T00:00:00Z","timestamp":1687651200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100000923","name":"Australian Research Council","doi-asserted-by":"publisher","award":["DP200102858"],"award-info":[{"award-number":["DP200102858"]}],"id":[{"id":"10.13039\/501100000923","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2024,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze cues on people\u2019s subjective perceptions of a mobile robot as a socially present entity in three common hallway navigation scenarios. The tested robot gaze behaviors were path-oriented (looking at its own future path), or human-oriented (looking at the nearest person), with fixed-gaze as the control. We conduct a real-world study with 36 participants who walked through the hallway, and an online study with 233 participants who were shown simulated videos of the same scenarios. Our results suggest that the preferred gaze behavior is scenario-dependent. Human-oriented gaze behaviors which acknowledge the presence of the human are generally preferred when the robot and human cross paths. However, this benefit is diminished in scenarios that involve less implicit interaction between the robot and the human.<\/jats:p>","DOI":"10.1007\/s12369-023-01023-y","type":"journal-article","created":{"date-parts":[[2023,6,25]],"date-time":"2023-06-25T10:01:38Z","timestamp":1687687298000},"page":"879-897","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Robot Gaze During Autonomous Navigation and Its Effect on Social Presence"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4052-969X","authenticated-orcid":false,"given":"Kerry","family":"He","sequence":"first","affiliation":[]},{"given":"Wesley P.","family":"Chan","sequence":"additional","affiliation":[]},{"given":"Akansel","family":"Cosgun","sequence":"additional","affiliation":[]},{"given":"Albin","family":"Joy","sequence":"additional","affiliation":[]},{"given":"Elizabeth A.","family":"Croft","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,6,25]]},"reference":[{"issue":"1","key":"1023_CR1","doi-asserted-by":"publisher","first-page":"25","DOI":"10.5898\/JHRI.6.1.Admoni","volume":"6","author":"H Admoni","year":"2017","unstructured":"Admoni H, Scassellati B (2017) Social eye gaze in human\u2013robot interaction: a review. J Hum Robot Interact 6(1):25\u201363. https:\/\/doi.org\/10.5898\/JHRI.6.1.Admoni","journal-title":"J Hum Robot Interact"},{"issue":"5","key":"1023_CR2","doi-asserted-by":"publisher","first-page":"456","DOI":"10.1162\/105474603322761270","volume":"12","author":"F Biocca","year":"2003","unstructured":"Biocca F, Harms C, Burgoon JK (2003) Toward a more robust theory and measure of social presence: review and suggested criteria. Presence Teleoper Virtual Environ 12(5):456\u2013480. https:\/\/doi.org\/10.1162\/105474603322761270","journal-title":"Presence Teleoper Virtual Environ"},{"key":"1023_CR3","doi-asserted-by":"publisher","first-page":"27,346","DOI":"10.1109\/ACCESS.2021.3058190","volume":"9","author":"A Bolu","year":"2021","unstructured":"Bolu A, Kor\u00e7ak \u00d6 (2021) Adaptive task planning for multi-robot smart warehouse. IEEE Access 9:27,346-27,358. https:\/\/doi.org\/10.1109\/ACCESS.2021.3058190","journal-title":"IEEE Access"},{"key":"1023_CR4","doi-asserted-by":"publisher","DOI":"10.4324\/9781003095552","volume-title":"Nonverbal communication","author":"JK Burgoon","year":"2021","unstructured":"Burgoon JK, Manusov V, Guerrero LK (2021) Nonverbal communication. Routledge, New York"},{"issue":"3","key":"1023_CR5","doi-asserted-by":"publisher","first-page":"692","DOI":"10.1109\/TRO.2020.2964824","volume":"36","author":"Y Che","year":"2020","unstructured":"Che Y, Okamura AM, Sadigh D (2020) Efficient and trustworthy social navigation via explicit and implicit robot\u2013human communication. IEEE Trans Robot 36(3):692\u2013707. https:\/\/doi.org\/10.1109\/TRO.2020.2964824","journal-title":"IEEE Trans Robot"},{"issue":"5","key":"1023_CR6","doi-asserted-by":"publisher","first-page":"7711","DOI":"10.3390\/s140507711","volume":"14","author":"F Cid","year":"2014","unstructured":"Cid F, Moreno J, Bustos P et al (2014) Muecas: a multi-sensor robotic head for affective human robot interaction and imitation. Sensors 14(5):7711\u20137737. https:\/\/doi.org\/10.3390\/s140507711","journal-title":"Sensors"},{"issue":"1","key":"1023_CR7","doi-asserted-by":"publisher","first-page":"254","DOI":"10.1515\/pjbr-2018-0020","volume":"9","author":"A Cosgun","year":"2018","unstructured":"Cosgun A, Christensen HI (2018) Context-aware robot navigation using interactively built semantic maps. Paladyn J Behav Robot 9(1):254\u2013276. https:\/\/doi.org\/10.1515\/pjbr-2018-0020","journal-title":"Paladyn J Behav Robot"},{"key":"1023_CR8","doi-asserted-by":"publisher","unstructured":"Dautenhahn K, Walters M, Woods S et\u00a0al (2006) How may I serve you? A robot companion approaching a seated person in a helping context. In: Proceedings of ACM SIGCHI\/SIGART Conference HRI, pp 172\u2013179. https:\/\/doi.org\/10.1145\/1121241.1121272","DOI":"10.1145\/1121241.1121272"},{"issue":"6","key":"1023_CR9","doi-asserted-by":"publisher","first-page":"793","DOI":"10.1080\/00140139.2020.1862310","volume":"64","author":"J de Winter","year":"2021","unstructured":"de Winter J, Bazilinskyy P, Wesdorp D et al (2021) How do pedestrians distribute their visual attention when walking through a parking garage? An eye-tracking study. Ergonomics 64(6):793\u2013805. https:\/\/doi.org\/10.1080\/00140139.2020.1862310","journal-title":"Ergonomics"},{"issue":"1","key":"1023_CR10","doi-asserted-by":"publisher","first-page":"11","DOI":"10.7275\/bj1p-ts64","volume":"15","author":"JF de Winter","year":"2010","unstructured":"de Winter JF, Dodou D (2010) Five-point likert items: t test versus Mann\u2013Whitney\u2013Wilcoxon. Pract Assess Res Eval 15(1):11. https:\/\/doi.org\/10.7275\/bj1p-ts64","journal-title":"Pract Assess Res Eval"},{"issue":"6","key":"1023_CR11","doi-asserted-by":"publisher","first-page":"581","DOI":"10.1016\/S0149-7634(00)00025-7","volume":"24","author":"NJ Emery","year":"2000","unstructured":"Emery NJ (2000) The eyes have it: the neuroethology, function and evolution of social gaze. Neurosci Biobehav Rev 24(6):581\u2013604. https:\/\/doi.org\/10.1016\/S0149-7634(00)00025-7","journal-title":"Neurosci Biobehav Rev"},{"key":"1023_CR12","doi-asserted-by":"publisher","first-page":"859","DOI":"10.3389\/fpsyg.2013.00859","volume":"4","author":"SM Fiore","year":"2013","unstructured":"Fiore SM, Wiltshire TJ, Lobato EJ et al (2013) Toward understanding social cues and signals in human\u2013robot interaction: effects of robot gaze and proxemic behavior. Front Psychol 4:859. https:\/\/doi.org\/10.3389\/fpsyg.2013.00859","journal-title":"Front Psychol"},{"key":"1023_CR13","doi-asserted-by":"publisher","DOI":"10.1007\/s10796-021-10162-4","author":"CL Gittens","year":"2021","unstructured":"Gittens CL (2021) Remote HRI: a methodology for maintaining covid-19 physical distancing and human interaction requirements in HRI studies. Inf Syst Frontiers. https:\/\/doi.org\/10.1007\/s10796-021-10162-4","journal-title":"Inf Syst Frontiers"},{"key":"1023_CR14","unstructured":"Harms C, Biocca F (2004) Internal consistency and reliability of the networked minds measure of social presence. In: Seventh annual international workshop: Presence, Universidad Politecnica de Valencia Valencia, Spain"},{"key":"1023_CR15","doi-asserted-by":"publisher","unstructured":"Hart J, Mirsky R, Xiao X et\u00a0al (2020) Using human-inspired signals to disambiguate navigational intentions. In: Proceedings of international conference social robotics. Springer, pp 320\u2013331. https:\/\/doi.org\/10.1007\/978-3-030-62056-1_27","DOI":"10.1007\/978-3-030-62056-1_27"},{"key":"1023_CR16","doi-asserted-by":"publisher","unstructured":"He K, Simini P, Chan WP et\u00a0al (2022) On-the-go robot-to-human handovers with a mobile manipulator. In: Proceedings of IEEE RO-MAN, pp 729\u2013734. https:\/\/doi.org\/10.1109\/RO-MAN53752.2022.9900642","DOI":"10.1109\/RO-MAN53752.2022.9900642"},{"issue":"10","key":"1023_CR17","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1167\/jov.20.10.5","volume":"20","author":"RS Hessels","year":"2020","unstructured":"Hessels RS, Benjamins JS, van Doorn AJ et al (2020) Looking behavior and potential human interactions during locomotion. J Vis 20(10):5\u20135. https:\/\/doi.org\/10.1167\/jov.20.10.5","journal-title":"J Vis"},{"issue":"5","key":"1023_CR18","doi-asserted-by":"publisher","first-page":"2482","DOI":"10.3758\/s13414-019-01952-9","volume":"82","author":"RS Hessels","year":"2020","unstructured":"Hessels RS, van Doorn AJ, Benjamins JS et al (2020) Task-related gaze control in human crowd navigation. Atten Percept Psychophys 82(5):2482\u20132501. https:\/\/doi.org\/10.3758\/s13414-019-01952-9","journal-title":"Atten Percept Psychophys"},{"key":"1023_CR19","doi-asserted-by":"publisher","unstructured":"Kanda T, Shimada M, Koizumi S (2012) Children learning with a social robot. In: Proceedings of the seventh annual ACM\/IEEE international conference on human\u2013robot interaction, pp 351\u2013358. https:\/\/doi.org\/10.1145\/2157689.2157809","DOI":"10.1145\/2157689.2157809"},{"key":"1023_CR20","unstructured":"Khambhaita H, Rios-Martinez J, Alami R (2016) Head-body motion coordination for human aware robot navigation. In: Proceedings of the international workshop HFR, pp 1\u20138. https:\/\/hal.laas.fr\/hal-01568838"},{"key":"1023_CR21","doi-asserted-by":"publisher","unstructured":"Kitazawa K, Fujiyama T (2009) Pedestrian vision and collision avoidance behavior: investigation of the information process space of pedestrians using an eye tracker. In: Pedestrian and evacuation dynamics 2008. Springer, pp 95\u2013108. https:\/\/doi.org\/10.1007\/978-3-642-04504-2_7","DOI":"10.1007\/978-3-642-04504-2_7"},{"key":"1023_CR22","first-page":"139","volume-title":"Common ground and coordination in joint activity, chap\u00a06","author":"G Klein","year":"2005","unstructured":"Klein G, Feltovich PJ, Bradshaw JM et al (2005) Common ground and coordination in joint activity, chap\u00a06. Wiley, Hoboken, pp 139\u2013184"},{"issue":"8","key":"1023_CR23","doi-asserted-by":"publisher","first-page":"1805","DOI":"10.1007\/s12369-022-00911-z","volume":"14","author":"S Kumar","year":"2022","unstructured":"Kumar S, Itzhak E, Edan Y et al (2022) Politeness in human\u2013robot interaction: a multi-experiment study with non-humanoid robots. Int J Soc Robot 14(8):1805\u20131820. https:\/\/doi.org\/10.1007\/s12369-022-00911-z","journal-title":"Int J Soc Robot"},{"key":"1023_CR24","doi-asserted-by":"crossref","unstructured":"Li R, van Almkerk M, van Waveren S et\u00a0al (2019) Comparing human\u2013robot proxemics between virtual reality and the real world. In: 2019 14th ACM\/IEEE international conference on human\u2013robot interaction (HRI). IEEE, pp 431\u2013439","DOI":"10.1109\/HRI.2019.8673116"},{"key":"1023_CR25","unstructured":"Lu DV (2014) Contextualized robot navigation. PhD thesis, Washington University in St. Louis"},{"key":"1023_CR26","doi-asserted-by":"publisher","unstructured":"Mainprice J, Gharbi M, Sim\u00e9on T et\u00a0al (2012) Sharing effort in planning human-robot handover tasks. In: Proceedings of IEEE RO-MAN, pp 764\u2013770. https:\/\/doi.org\/10.1109\/ROMAN.2012.6343844","DOI":"10.1109\/ROMAN.2012.6343844"},{"issue":"5","key":"1023_CR27","doi-asserted-by":"publisher","first-page":"1189","DOI":"10.1007\/s10514-016-9572-2","volume":"41","author":"R Mead","year":"2017","unstructured":"Mead R, Matari\u0107 MJ (2017) Autonomous human\u2013robot proxemics: socially aware navigation based on interaction potential. Auton Robot 41(5):1189\u20131201. https:\/\/doi.org\/10.1007\/s10514-016-9572-2","journal-title":"Auton Robot"},{"key":"1023_CR28","doi-asserted-by":"publisher","unstructured":"Moon A, Troniak DM, Gleeson B et\u00a0al (2014) Meet me where I\u2019m gazing: how shared attention gaze affects human\u2013robot handover timing. In: Proceedings of ACM IEEE conference HRI, pp 334\u2013341. https:\/\/doi.org\/10.1145\/2559636.2559656","DOI":"10.1145\/2559636.2559656"},{"issue":"20556683221101","key":"1023_CR29","doi-asserted-by":"publisher","first-page":"389","DOI":"10.1177\/20556683221101389","volume":"9","author":"F Robinson","year":"2022","unstructured":"Robinson F, Nejat G (2022) An analysis of design recommendations for socially assistive robot helpers for effective human\u2013robot interactions in senior care. J Rehabil Assist Technol Eng 9(20556683221101):389. https:\/\/doi.org\/10.1177\/20556683221101389","journal-title":"J Rehabil Assist Technol Eng"},{"key":"1023_CR30","unstructured":"Salem M, Dautenhahn K (2015) Evaluating trust and safety in HRI: practical issues and ethical challenges. Emerging policy and ethics of human\u2013robot interaction"},{"key":"1023_CR31","doi-asserted-by":"publisher","unstructured":"Satake S, Kanda T, Glas DF et\u00a0al (2009) How to approach humans? Strategies for social robots to initiate interaction. In: Proceedings of the 4th ACM\/IEEE international conference on human robot interaction, pp 109\u2013116. https:\/\/doi.org\/10.1145\/1514095.1514117","DOI":"10.1145\/1514095.1514117"},{"key":"1023_CR32","doi-asserted-by":"publisher","unstructured":"Schrum ML, Johnson M, Ghuy M et\u00a0al (2020) Four years in review: statistical practices of likert scales in human\u2013robot interaction studies. In: Companion of the 2020 ACM\/IEEE international conference on human\u2013robot interaction, pp 43\u201352. https:\/\/doi.org\/10.1145\/3371382.3380739","DOI":"10.1145\/3371382.3380739"},{"issue":"7","key":"1023_CR33","doi-asserted-by":"publisher","first-page":"e13,322","DOI":"10.2196\/13322","volume":"21","author":"AA Scoglio","year":"2019","unstructured":"Scoglio AA, Reilly ED, Gorman JA et al (2019) Use of social robots in mental health and well-being research: systematic review. J Med Internet Res 21(7):e13,322. https:\/\/doi.org\/10.2196\/13322","journal-title":"J Med Internet Res"},{"issue":"5","key":"1023_CR34","doi-asserted-by":"publisher","first-page":"874","DOI":"10.1109\/TRO.2007.904911","volume":"23","author":"EA Sisbot","year":"2007","unstructured":"Sisbot EA, Marin-Urias LF, Alami R et al (2007) A human aware mobile robot motion planner. IEEE Trans Robot 23(5):874\u2013883. https:\/\/doi.org\/10.1109\/TRO.2007.904911","journal-title":"IEEE Trans Robot"},{"issue":"1","key":"1023_CR35","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10514-009-9160-9","volume":"28","author":"SS Srinivasa","year":"2010","unstructured":"Srinivasa SS, Ferguson D, Helfrich CJ et al (2010) HERB: a home exploring robotic butler. Auton Robot 28(1):5\u201320. https:\/\/doi.org\/10.1007\/s10514-009-9160-9","journal-title":"Auton Robot"},{"key":"1023_CR36","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-021-00839-w","author":"K Tatarian","year":"2021","unstructured":"Tatarian K, Stower R, Rudaz D et al (2021) How does modality matter? Investigating the synthesis and effects of multi-modal robot behavior on social intelligence. Int J Soc Robot. https:\/\/doi.org\/10.1007\/s12369-021-00839-w","journal-title":"Int J Soc Robot"},{"key":"1023_CR37","doi-asserted-by":"publisher","unstructured":"Terzio\u011flu Y, Mutlu B, \u015eahin E (2020) Designing social cues for collaborative robots: the role of gaze and breathing in human\u2013robot collaboration. In: Proceedings of ACM IEEE conference HRI, pp 343\u2013357. https:\/\/doi.org\/10.1145\/3319502.3374829","DOI":"10.1145\/3319502.3374829"},{"key":"1023_CR38","doi-asserted-by":"publisher","unstructured":"Vemula A, Muelling K, Oh J (2017) Modeling cooperative navigation in dense human crowds. In: 2017 IEEE international conference on robotics and automation (ICRA). IEEE, pp 1685\u20131692. https:\/\/doi.org\/10.1109\/ICRA.2017.7989199","DOI":"10.1109\/ICRA.2017.7989199"},{"key":"1023_CR39","doi-asserted-by":"publisher","first-page":"1273","DOI":"10.1177\/1541931213571282","volume":"57","author":"T Wiltshire","year":"2013","unstructured":"Wiltshire T, Lobato E, Wedell A et al (2013) Effects of robot gaze and proxemic behavior on perceived social presence during a hallway navigation scenario. Proc Hum Factors Ergon Soc 57:1273\u20131277. https:\/\/doi.org\/10.1177\/1541931213571282","journal-title":"Proc Hum Factors Ergon Soc"},{"key":"1023_CR40","doi-asserted-by":"publisher","unstructured":"Woods S, Walters M, Koay KL et\u00a0al (2006a) Comparing human robot interaction scenarios using live and video based methods: towards a novel methodological approach. In: 9th IEEE international workshop on advanced motion control, 2006. IEEE, pp 750\u2013755. https:\/\/doi.org\/10.1109\/HRI.2019.8673116","DOI":"10.1109\/HRI.2019.8673116"},{"key":"1023_CR41","doi-asserted-by":"publisher","unstructured":"Woods SN, Walters ML, Koay KL et\u00a0al (2006b) Methodological issues in HRI: a comparison of live and video-based methods in robot to human approach direction trials. In: ROMAN 2006\u2014the 15th IEEE international symposium on robot and human interactive communication. IEEE, pp 51\u201358. https:\/\/doi.org\/10.1109\/ROMAN.2006.314394","DOI":"10.1109\/ROMAN.2006.314394"},{"issue":"1","key":"1023_CR42","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1080\/10447318.2015.1093856","volume":"32","author":"S Yilmazyildiz","year":"2016","unstructured":"Yilmazyildiz S, Read R, Belpeame T et al (2016) Review of semantic-free utterances in social human\u2013robot interaction. Int J Hum Comput Interact 32(1):63\u201385. https:\/\/doi.org\/10.1080\/10447318.2015.1093856","journal-title":"Int J Hum Comput Interact"},{"key":"1023_CR43","doi-asserted-by":"publisher","unstructured":"Zecca M, Mizoguchi Y, Endo K et\u00a0al (2009) Whole body emotion expressions for KOBIAN humanoid robot\u2014preliminary experiments with different emotional patterns. In: Proceedings of IEEE RO-MAN, pp 381\u2013386. https:\/\/doi.org\/10.1109\/ROMAN.2009.5326184","DOI":"10.1109\/ROMAN.2009.5326184"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-023-01023-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-023-01023-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-023-01023-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,8]],"date-time":"2024-07-08T06:16:26Z","timestamp":1720419386000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-023-01023-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,25]]},"references-count":43,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,5]]}},"alternative-id":["1023"],"URL":"https:\/\/doi.org\/10.1007\/s12369-023-01023-y","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"value":"1875-4791","type":"print"},{"value":"1875-4805","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,25]]},"assertion":[{"value":"7 June 2023","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 June 2023","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}},{"value":"This study has been approved by the Monash University Human Research Ethics Committee (Application ID: 25549).","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed Consent"}}]}}