{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T11:03:40Z","timestamp":1773399820699,"version":"3.50.1"},"reference-count":45,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2023,2,15]],"date-time":"2023-02-15T00:00:00Z","timestamp":1676419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2023,3,31]]},"abstract":"<jats:p>In a world with increasing numbers of robots operating in everyday human spaces, the employees at this robotics company are pioneers, with intelligent point-to-point path planning and autonomous transport operations in 150+ factory and warehouse locations in North America. At the time of research, this robotics company consisted of \u00a0250 employees. Unlike other industry models, their robots are designed to operate with people in mixed human-machine spaces, yet no HRI style evaluations had previously been run with their robots. As early observers of how factory workers and transport robot interact, across varied job roles ranging from technology design to customer relations, this work sought to leverage employee knowledge and experiences to identify opportunities for improving the communication capabilities of the robots, resulting in the addition of several robot state communications to their initial software set leveraging both employee- and social robotics literature- sourced ideas for communicating with lights. To achieve this a social robotics researcher spent a summer onsite at the robotics company, getting to know their software stack and culture. Her research activities included: (1) a company-wide survey relative to the robot\u2019s light, sound, and motion communications was sent out and analyzed, (2) the development of three new light sets (car-like, sweeping, heartbeat) and five overall states (blocked, at goal, turning, idle), and (3) a user study evaluating the developed light sets relative to the current robot default light patterns, all significantly improving the overall legibility of the targeted robot state communications: at goal, blocked, turning, and idle. Our initial findings advance knowledge in which style of light patterns is best for different communication states, showing that eye-catching lights are best for high urgency states, such as blocked, and subtle lights are best for low urgency states, such as idle. Finally, the latest software release for this robot has deployed a subset of these light patterns to all of their currently operating client sites, i.e., anyone who updates their robots to the latest release will benefit from these research results. This deployment sets the ground for future researchers exploring how end-users at different sites have responded to the new, more communicative light patterns.<\/jats:p>","DOI":"10.1145\/3570732","type":"journal-article","created":{"date-parts":[[2022,11,19]],"date-time":"2022-11-19T10:20:46Z","timestamp":1668853246000},"page":"1-33","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["Integrating Robot Manufacturer Perspectives into Legible Factory Robot Light Communications"],"prefix":"10.1145","volume":"12","author":[{"given":"Alexandra","family":"Bacula","sequence":"first","affiliation":[{"name":"CoRIS Institute, Oregon State University, Corvallis, Oregon, United States"}]},{"given":"Jason","family":"Mercer","sequence":"additional","affiliation":[{"name":"OTTO Motors Autonomy Team, Kitchener, Ontario, Canada"}]},{"given":"Jaden","family":"Berger","sequence":"additional","affiliation":[{"name":"CoRIS Institute, Oregon State University, Corvallis, Oregon, United States"}]},{"given":"Julie","family":"Adams","sequence":"additional","affiliation":[{"name":"CoRIS Institute, Oregon State University, Corvallis, Oregon, United States"}]},{"given":"Heather","family":"Knight","sequence":"additional","affiliation":[{"name":"CoRIS Institute, Oregon State University, Corvallis, Oregon, United States"}]}],"member":"320","published-online":{"date-parts":[[2023,2,15]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/RO-MAN46459.2019.8956262"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.6936985"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27146-0_9"},{"key":"e_1_3_1_5_2","first-page":"652","volume-title":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN\u201916)","author":"Baraka Kim","year":"2016","unstructured":"Kim Baraka, Stephanie Rosenthal, and Manuela Veloso. 2016. Enhancing human understanding of a mobile robot\u2019s state and actions using expressive lights. In 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN\u201916). IEEE, 652\u2013657."},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-017-0431-x"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843608001303"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/1350843.1350848"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-017-0400-4"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/9781405165518.wbeosg070"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1145\/3377343"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696473"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483603"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00374-3"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1145\/3357236.3395446"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-25504-5_8"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1145\/2207676.2208296"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989778"},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651294"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228718"},{"key":"e_1_3_1_21_2","first-page":"1564","volume-title":"2012 Proceedings of SICE Annual Conference (SICE\u201912)","author":"Jean Jong-Hann","year":"2012","unstructured":"Jong-Hann Jean, Chen-Fu Wei, Zheng-Wei Lin, and Kuang-Yow Lian. 2012. Development of an office delivery robot with multimodal human-robot interactions. In 2012 Proceedings of SICE Annual Conference (SICE\u201912). IEEE, 1564\u20131567."},{"key":"e_1_3_1_22_2","first-page":"443","volume-title":"Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on","author":"Knight Heather","year":"2017","unstructured":"Heather Knight, Timothy Lee, Brittany Hallawell, and Wendy Ju. 2017. I get it already! The influence of ChairBot motion gestures on bystander response. In Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on. IEEE, 443\u2013448."},{"key":"e_1_3_1_23_2","volume-title":"2016 IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE","author":"Knight Heather","year":"2016","unstructured":"Heather Knight, Ravenna Thielstrom, and Reid Simmons. 2016. Expressive path shape: Simple motion features that illustrate a robots attitude toward its goal. In 2016 IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE."},{"key":"e_1_3_1_24_2","first-page":"355","volume-title":"Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on","author":"Knight Heather","year":"2015","unstructured":"Heather Knight, Manuela Veloso, and Reid Simmons. 2015. Taking candy from a robot: Speed features and candy accessibility predict human response. In Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on. IEEE, 355\u2013362."},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.11648\/j.acis.20160402.17"},{"key":"e_1_3_1_26_2","unstructured":"Christina Lichtenth\u00e4ler and Alexandra Kirsch. 2016. Legibility of robot behavior: A literature review. (2016)."},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171261"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2017.03.009"},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10015-005-0377-1"},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2014.10.079"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.1145\/3409120.3410667"},{"key":"e_1_3_1_32_2","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020238"},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1145\/153571.255960"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1145\/1349822.1349860"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2309118"},{"key":"e_1_3_1_36_2","volume-title":"Workshop The Message in the Bottle: Best Practices for Transferring the Knowledge from Qualitative User Studies at DIS","author":"Osswald Sebastian","year":"2012","unstructured":"Sebastian Osswald, Roland Buchner, Astrid Weiss, and Manfred Tscheligi. 2012. Using participatory design to investigate technology usage in the cleanroom of a semiconductor factory. In Workshop The Message in the Bottle: Best Practices for Transferring the Knowledge from Qualitative User Studies at DIS, Vol. 12."},{"key":"e_1_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1145\/3121113.3121212"},{"key":"e_1_3_1_38_2","first-page":"104","volume-title":"International Conference on Human Aspects of it for the Aged Population","author":"\u0160abanovi\u0107 Selma","year":"2015","unstructured":"Selma \u0160abanovi\u0107, Wan-Ling Chang, Casey C. Bennett, Jennifer A. Piatt, and David Hakken. 2015. A robot of my own: Participatory design of socially assistive robots for independently living older adults diagnosed with depression. In International Conference on Human Aspects of it for the Aged Population. Springer, 104\u2013114."},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-019-00523-0"},{"key":"e_1_3_1_40_2","volume-title":"Participatory Design: Principles and Practices","author":"Schuler Douglas","year":"1993","unstructured":"Douglas Schuler and Aki Namioka. 1993. Participatory Design: Principles and Practices. CRC Press."},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020239"},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171249"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696475"},{"key":"e_1_3_1_44_2","doi-asserted-by":"publisher","DOI":"10.5555\/1732643.1732940"},{"key":"e_1_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/CTS.2011.5928683"},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27048-7_3"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3570732","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3570732","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T17:49:34Z","timestamp":1750182574000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3570732"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,15]]},"references-count":45,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,3,31]]}},"alternative-id":["10.1145\/3570732"],"URL":"https:\/\/doi.org\/10.1145\/3570732","relation":{},"ISSN":["2573-9522","2573-9522"],"issn-type":[{"value":"2573-9522","type":"print"},{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,15]]},"assertion":[{"value":"2020-12-17","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-10-20","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-02-15","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}