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Hum.-Robot Interact."],"published-print":{"date-parts":[[2021,12,31]]},"abstract":"<jats:p>\n            Although non-verbal cues such as arm movement and eye gaze can convey robot intention, they alone may not provide enough information for a human to fully understand a robot\u2019s behavior. To better understand how to convey robot intention, we conducted an experiment (\n            <jats:italic>N = 366<\/jats:italic>\n            ) investigating the\n            <jats:italic>need for robots to explain<\/jats:italic>\n            , and the\n            <jats:italic>content<\/jats:italic>\n            and\n            <jats:italic>properties<\/jats:italic>\n            of a desired explanation such as\n            <jats:italic>timing<\/jats:italic>\n            ,\n            <jats:italic>engagement importance<\/jats:italic>\n            ,\n            <jats:italic>similarity to human explanations,<\/jats:italic>\n            and\n            <jats:italic>summarization<\/jats:italic>\n            . Participants watched a video where the robot was commanded to hand an almost-reachable cup and one of six reactions intended to show the unreachability : doing nothing (No Cue), turning its head to the cup (Look), or turning its head to the cup with the addition of repeated arm movement pointed towards the cup (Look &amp; Point), and each of these with or without a Headshake. The results indicated that participants agreed robot behavior should be explained across all conditions,\n            <jats:italic>in situ<\/jats:italic>\n            , in a similar manner as what human explain, and provide concise summaries and respond to only a few follow-up questions by participants. Additionally, we replicated the study again with\n            <jats:italic>N = 366<\/jats:italic>\n            participants after a 15-month span and all major conclusions still held.\n          <\/jats:p>","DOI":"10.1145\/3469652","type":"journal-article","created":{"date-parts":[[2021,9,14]],"date-time":"2021-09-14T10:18:19Z","timestamp":1631614699000},"page":"1-42","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":41,"title":["The Need for Verbal Robot Explanations and How People Would Like a Robot to Explain Itself"],"prefix":"10.1145","volume":"10","author":[{"given":"Zhao","family":"Han","sequence":"first","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Elizabeth","family":"Phillips","sequence":"additional","affiliation":[{"name":"George Mason University, Fairfax, VA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Holly A.","family":"Yanco","sequence":"additional","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,9,14]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3174156"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2870052"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2016.7451733"},{"key":"e_1_2_1_4_1","volume-title":"Proceedings of the 17th International Conference on Autonomous Agents and Multi-agent Systems (AAMAS\u201918)","author":"Amir Dan","year":"2018","unstructured":"Dan Amir and Ofra Amir . 2018 . 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