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Hum.-Robot Interact."],"published-print":{"date-parts":[[2021,12,31]]},"abstract":"<jats:p>Human\u2013robot collaboration is becoming increasingly common in factories around the world; accordingly, we need to improve the interaction experiences between humans and robots working in these spaces. In this article, we report on a user study that investigated methods for providing information to a person about a robot\u2019s intent to move when working together in a shared workspace through signals provided by the robot. In this case, the workspace was the surface of a tabletop. Our study tested the effectiveness of three motion-based and three light-based intent signals as well as the overall level of comfort participants felt while working with the robot to sort colored blocks on the tabletop. Although not significant, our findings suggest that the light signal located closest to the workspace\u2014an LED bracelet located closest to the robot\u2019s end effector\u2014was the most noticeable and least confusing to participants. These findings can be leveraged to support human\u2013robot collaborations in shared spaces.<\/jats:p>","DOI":"10.1145\/3472223","type":"journal-article","created":{"date-parts":[[2021,9,15]],"date-time":"2021-09-15T16:23:55Z","timestamp":1631723035000},"page":"1-27","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":31,"title":["Methods for Expressing Robot Intent for Human\u2013Robot Collaboration in Shared Workspaces"],"prefix":"10.1145","volume":"10","author":[{"given":"Gregory","family":"Lemasurier","sequence":"first","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, Massachusetts, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gal","family":"Bejerano","sequence":"additional","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, Massachusetts, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Victoria","family":"Albanese","sequence":"additional","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, Massachusetts, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jenna","family":"Parrillo","sequence":"additional","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, Massachusetts, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Holly A.","family":"Yanco","sequence":"additional","affiliation":[{"name":"University of Massachusetts Lowell, Lowell, Massachusetts, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicholas","family":"Amerson","sequence":"additional","affiliation":[{"name":"United States Air Force Academy, Colorado, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rebecca","family":"Hetrick","sequence":"additional","affiliation":[{"name":"United States Air Force Academy, Colorado, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Elizabeth","family":"Phillips","sequence":"additional","affiliation":[{"name":"George Mason University, Virginia, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,9,15]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559682"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3434073.3444651"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2016.7745145"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27146-0_9"},{"key":"e_1_2_1_5_1","volume-title":"Companion of the ACM\/IEEE International Conference on Human-Robot Interaction. 65\u201366","author":"Bejerano Gal","unstructured":"Gal Bejerano , Gregory LeMasurier , and Holly A. 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