{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T11:21:48Z","timestamp":1773141708170,"version":"3.50.1"},"reference-count":86,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T00:00:00Z","timestamp":1657670400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Toyota Research Institute and Air Force Office of Scientific Research","award":["FA9550-18-1-0125"],"award-info":[{"award-number":["FA9550-18-1-0125"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2022,9,30]]},"abstract":"<jats:p>\n            <jats:bold>Proximate human-robot teaming (pxHRT)<\/jats:bold>\n            is a complex subspace within human-robot interaction. Studies in this space involve a range of equipment and methods, including the ability to sense people and robots precisely. Research in this area draws from a wide variety of other fields, from human-human interaction to control theory, making the study design complex, particularly for those outside the field of HRI. In this paper, we introduce a framework that helps researchers consider tradeoffs across various task contexts, platforms, sensors, and analysis methods; metrics frequently used in the field; and common challenges researchers may face. We demonstrate the use of the framework via a case study which employs an autonomous mobile manipulator continuously engaging in shared workspace, handover, and co-manipulation tasks with people, and explores the effect of cognitive workload on pxHRT dynamics. We also demonstrate the utility of the framework in a case study with two groups of researchers new to pxHRT. With this framework, we hope to enable researchers, especially those outside HRI, to more thoroughly consider these complex components within their studies, more easily design experiments, and more fully explore research questions within the space of pxHRT.\n          <\/jats:p>","DOI":"10.1145\/3526101","type":"journal-article","created":{"date-parts":[[2022,4,14]],"date-time":"2022-04-14T17:50:26Z","timestamp":1649958626000},"page":"1-34","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["A Framework to Explore Proximate Human-Robot Coordination"],"prefix":"10.1145","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2686-0688","authenticated-orcid":false,"given":"Sachiko","family":"Matsumoto","sequence":"first","affiliation":[{"name":"Computer Science and Engineering, UC San Diego, La Jolla, CA, USA"}]},{"given":"Auriel","family":"Washburn","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, UC San Diego, La Jolla, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7906-6691","authenticated-orcid":false,"given":"Laurel D.","family":"Riek","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, UC San Diego, La Jolla, CA, USA"}]}],"member":"320","published-online":{"date-parts":[[2022,7,13]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"Mural. https:\/\/www.mural.co\/."},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3132743"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-42307-0_2"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jneumeth.2013.10.018"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.3.2.Beer"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-42307-0_14"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374818"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1080\/21577323.2015.1055864"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_72"},{"key":"e_1_3_1_11_2","article-title":"Reproducibility in human-robot interaction: Furthering the science of HRI","author":"Broz Frank","unstructured":"Frank Broz, Chris S. Crawford, Hatice Gunes, Astrid Rosenthal-von der Putten, Laurel Riek, and Megan Strait. Reproducibility in human-robot interaction: Furthering the science of HRI. In Review.","journal-title":"In Review"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957823"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1073\/PNAS.1617657114"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915627291"},{"issue":"5","key":"e_1_3_1_15_2","doi-asserted-by":"crossref","first-page":"e0125179","DOI":"10.1371\/journal.pone.0125179","article-title":"Evaluation by expert dancers of a robot that performs partnered stepping via haptic interaction","volume":"10","author":"Chen Tiffany L.","year":"2015","unstructured":"Tiffany L. Chen, Tapomayukh Bhattacharjee, J. Lucas McKay, Jacquelyn E. Borinski, Madeleine E. Hackney, Lena H. Ting, and Charles C. Kemp. 2015. Evaluation by expert dancers of a robot that performs partnered stepping via haptic interaction. PloS One 10, 5 (2015), e0125179.","journal-title":"PloS One"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1177\/0956797613504966"},{"key":"e_1_3_1_17_2","doi-asserted-by":"crossref","unstructured":"Joseph DelPreto and Daniela Rus. 2019. Sharing the Load: Human-Robot Team Lifting Using Muscle Activity. (2019). http:\/\/people.csail.mit.edu\/delpreto\/icra2019.","DOI":"10.1109\/ICRA.2019.8794414"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206109"},{"key":"e_1_3_1_19_2","volume-title":"How to Design and Report Experiments","author":"Field Andy P.","year":"2003","unstructured":"Andy P. Field. 2003. How to Design and Report Experiments. Sage Publications Ltd., London. 2002108293"},{"key":"e_1_3_1_20_2","article-title":"The garden of forking paths: Why multiple comparisons can be a problem, even when there is no \u201cfishing expedition\u201d or \u201cp-hacking\u201d and the research hypothesis was posited ahead of time","volume":"348","author":"Gelman Andrew","year":"2013","unstructured":"Andrew Gelman and Eric Loken. 2013. The garden of forking paths: Why multiple comparisons can be a problem, even when there is no \u201cfishing expedition\u201d or \u201cp-hacking\u201d and the research hypothesis was posited ahead of time. Department of Statistics, Columbia University 348 (2013).","journal-title":"Department of Statistics, Columbia University"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759417"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9457-9"},{"key":"e_1_3_1_23_2","first-page":"139","volume-title":"Advances in Psychology","author":"Hart Sandra G.","year":"1988","unstructured":"Sandra G. Hart and Lowell E. Staveland. 1988. Development of NASA-TLX (task load index): Results of empirical and theoretical research. In Advances in Psychology, Vol. 52. Elsevier, 139\u2013183."},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2019.2904558"},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228718"},{"key":"e_1_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9166-3"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3412374"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.24251\/hicss.2018.559"},{"key":"e_1_3_1_29_2","volume-title":"Robotics: Science and Systems","author":"Huang Chien-Ming","year":"2015","unstructured":"Chien-Ming Huang, Maya Cakmak, and Bilge Mutlu. 2015. Adaptive coordination strategies for human-robot handovers. In Robotics: Science and Systems, Vol. 11. Rome, Italy."},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2570240"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAFFC.2015.2445335"},{"key":"e_1_3_1_32_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.copsyc.2015.09.001"},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-0582-1_2"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-21290-6_24"},{"key":"e_1_3_1_35_2","article-title":"Activity recognition in manufacturing: The roles of motion capture and sEMG+ inertial wearables in detecting fine vs. gross motion","author":"Kubota Alyssa","year":"2019","unstructured":"Alyssa Kubota, Tariq Iqbal, Julie A. Shah, and Laurel D. Riek. 2019. Activity recognition in manufacturing: The roles of motion capture and sEMG+ inertial wearables in detecting fine vs. gross motion. IEEE International Conference on Robotics and Automation (ICRA) (2019).","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"e_1_3_1_36_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/5964632"},{"key":"e_1_3_1_37_2","article-title":"Deep learning control of artificial avatars in group coordination tasks","author":"Lombardi Maria","year":"2019","unstructured":"Maria Lombardi, Davide Liuzza, and Mario Di Bernardo. 2019. Deep learning control of artificial avatars in group coordination tasks. arXiv preprint arXiv:1906.04656 (2019). arxiv:1906.04656v1. https:\/\/arxiv.org\/pdf\/1906.04656.pdf.","journal-title":"arXiv preprint arXiv:1906.04656"},{"key":"e_1_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483565"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-015-0325-8"},{"key":"e_1_3_1_40_2","doi-asserted-by":"publisher","DOI":"10.1075\/is.10.3.09mar"},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1027\/1864-9335\/a000377"},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803296"},{"key":"e_1_3_1_43_2","article-title":"Analysis of rigid extended object co-manipulation by human dyads: Lateral movement characterization","author":"Mielke Erich A.","year":"2017","unstructured":"Erich A. Mielke, Eric C. Townsend, and Marc D. Killpack. 2017. Analysis of rigid extended object co-manipulation by human dyads: Lateral movement characterization. arXiv preprint arXiv:1702.00733 (2017).","journal-title":"arXiv preprint arXiv:1702.00733"},{"key":"e_1_3_1_44_2","doi-asserted-by":"publisher","DOI":"10.1002\/ejsp.721"},{"key":"e_1_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.4236\/psych.2017.811121"},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-011-2641-z"},{"key":"e_1_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/J.PATREC.2014.11.010"},{"key":"e_1_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559656"},{"key":"e_1_3_1_49_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455366"},{"key":"e_1_3_1_50_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0095195"},{"key":"e_1_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514109"},{"key":"e_1_3_1_52_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917690593"},{"key":"e_1_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696455"},{"key":"e_1_3_1_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483499"},{"key":"e_1_3_1_55_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2572698"},{"key":"e_1_3_1_56_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-020-00666-5"},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2017.8172363"},{"key":"e_1_3_1_58_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967974"},{"key":"e_1_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2017.2694553"},{"key":"e_1_3_1_60_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9678-1"},{"key":"e_1_3_1_61_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2008.13"},{"key":"e_1_3_1_62_2","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.1.Riek"},{"key":"e_1_3_1_63_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2540623"},{"key":"e_1_3_1_64_2","doi-asserted-by":"publisher","DOI":"10.1037\/0096-1523.16.2.227"},{"key":"e_1_3_1_65_2","doi-asserted-by":"publisher","DOI":"10.1145\/3371382.3380739"},{"key":"e_1_3_1_66_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ps.44.020193.003241"},{"key":"e_1_3_1_67_2","doi-asserted-by":"publisher","DOI":"10.1080\/02796015.2011.12087525"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0375-9601(02)01411-1"},{"key":"e_1_3_1_69_2","doi-asserted-by":"publisher","DOI":"10.1177\/0956797611417632"},{"key":"e_1_3_1_70_2","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.2.1.Strabala"},{"key":"e_1_3_1_71_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942970"},{"key":"e_1_3_1_72_2","doi-asserted-by":"publisher","DOI":"10.1145\/3375798"},{"key":"e_1_3_1_73_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561897"},{"key":"e_1_3_1_74_2","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559655"},{"key":"e_1_3_1_75_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353792"},{"key":"e_1_3_1_76_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2015.2467751"},{"key":"e_1_3_1_77_2","doi-asserted-by":"publisher","DOI":"10.1145\/3380783"},{"key":"e_1_3_1_78_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2014.00800"},{"key":"e_1_3_1_79_2","article-title":"Recurrence quantification analysis of nonlinear dynamical systems","author":"Webber Charles","year":"2005","unstructured":"Charles Webber and Joseph Zbilut. 2005. Recurrence quantification analysis of nonlinear dynamical systems. Tutorials in Contemporary Nonlinear Methods for the Behavioral Sciences (01 2005).","journal-title":"Tutorials in Contemporary Nonlinear Methods for the Behavioral Sciences"},{"key":"e_1_3_1_80_2","doi-asserted-by":"publisher","DOI":"10.1142\/S0218127407019226"},{"key":"e_1_3_1_81_2","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514164"},{"key":"e_1_3_1_82_2","doi-asserted-by":"publisher","DOI":"10.1080\/14639220500370105"},{"key":"e_1_3_1_83_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-9280.2008.02253.x"},{"key":"e_1_3_1_84_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2013.1125"},{"key":"e_1_3_1_85_2","article-title":"Finding structure in time: Visualizing and analyzing behavioral time series","volume":"11","author":"Xu Tian Linger","year":"2020","unstructured":"Tian Linger Xu, Kaya de Barbaro, Drew H. Abney, and Ralf F. A. Cox. 2020. Finding structure in time: Visualizing and analyzing behavioral time series. Frontiers in Psychology 11 (2020).","journal-title":"Frontiers in Psychology"},{"key":"e_1_3_1_86_2","volume-title":"Proceedings of the AAAI Fall Symposium on Human-Robot Interaction","author":"Yanco Holly A.","year":"2002","unstructured":"Holly A. Yanco and Jill L. Drury. 2002. A taxonomy for human-robot interaction. In Proceedings of the AAAI Fall Symposium on Human-Robot Interaction. www.aaai.org"},{"key":"e_1_3_1_87_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2004.1400763"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3526101","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3526101","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T18:43:46Z","timestamp":1750272226000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3526101"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,13]]},"references-count":86,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,9,30]]}},"alternative-id":["10.1145\/3526101"],"URL":"https:\/\/doi.org\/10.1145\/3526101","relation":{},"ISSN":["2573-9522","2573-9522"],"issn-type":[{"value":"2573-9522","type":"print"},{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,13]]},"assertion":[{"value":"2020-10-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-02-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-07-13","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}