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There is a need to explore how users intuitively understand the behavior of a robot and the impact of social context on that understanding. This study measures mental effort (as indexed by pupil response) and processing time, measured as the time taken to provide the correct answer, to investigate participants\u2019 intuitive understanding of the robot\u2019s gestures. Thirty-two participants participated in a charades game with a TIAGo robot, during which their eyes were tracked. Our findings show a relationship between mental effort and processing time, and indicate that robot gestures, congruence of speech and behavior, and the correctness of interpreting robot behavior influence intuitive understanding. Furthermore, we found that people focused on the robot\u2019s limb movement. Using these findings, we can highlight what features contribute to the intuitive interaction with a robot, thus improving its efficiency.<\/jats:p>","DOI":"10.1007\/s12369-025-01271-0","type":"journal-article","created":{"date-parts":[[2025,5,26]],"date-time":"2025-05-26T08:34:09Z","timestamp":1748248449000},"page":"2279-2292","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Seeing Meaning: How Congruent Robot Speech and Gestures Impact Human Intuitive Understanding of Robot Intentions"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5638-8575","authenticated-orcid":false,"given":"Marieke","family":"van Otterdijk","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bruno","family":"Laeng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Diana","family":"Saplacan-Lindblom","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adel","family":"Baselizadeh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jim","family":"T\u00f8rresen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,26]]},"reference":[{"key":"1271_CR1","doi-asserted-by":"publisher","unstructured":"Adam F, Dempsey E (2020) Intuition in decision making-risk and opportunity. 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