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Gunther Plaut Chair in Manufacturing Engineering"},{"name":"George Shrut Chair in Human Performance Management"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2023,6,30]]},"abstract":"<jats:p>Socially assistive robots (SARs) aim to provide assistance through social interaction. Previous studies contributed to understanding users\u2019 perceptions and preferences regarding existing commercially available SARs. Yet very few studies regarding SARs\u2019 appearance used designated SAR designs, and even fewer evaluated isolated visual qualities (VQs). In this work, we aim to assess the effect of isolated VQs systematically. To achieve this, we first conducted market survey and deconstructed the VQs attributed to SARs. Then, a reconstruction of body structure, outline, and color scheme was done, resulting in the creation of 30 new SAR models that differ in their VQs, allowing us to isolate one character at a time. We used these new designs to evaluate users\u2019 preferences and perceptions in two empirical studies. Our empirical findings link VQs with perceptions of SAR characteristics. 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