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However, the HRI community lacks a set of shared terminology and framework for characterizing aspects of mixed reality interfaces, presenting serious problems for future research. Therefore, it is important to have a common set of terms and concepts that can be used to precisely describe and organize the diverse array of work being done within the field. In this article, we present a novel taxonomic framework for different types of VAM-HRI interfaces, composed of four main categories of virtual design elements (VDEs). We present and justify our taxonomy and explain how its elements have been developed over the past 30 years as well as the current directions VAM-HRI is headed in the coming decade.<\/jats:p>","DOI":"10.1145\/3597623","type":"journal-article","created":{"date-parts":[[2023,5,31]],"date-time":"2023-05-31T11:25:20Z","timestamp":1685532320000},"page":"1-39","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":99,"title":["Virtual, Augmented, and Mixed Reality for Human-robot Interaction: A Survey and Virtual Design Element Taxonomy"],"prefix":"10.1145","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2686-9110","authenticated-orcid":false,"given":"Michael","family":"Walker","sequence":"first","affiliation":[{"name":"University of North Carolina at Chapel Hill, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2442-5292","authenticated-orcid":false,"given":"Thao","family":"Phung","sequence":"additional","affiliation":[{"name":"Colorado School of Mines, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2905-5454","authenticated-orcid":false,"given":"Tathagata","family":"Chakraborti","sequence":"additional","affiliation":[{"name":"IBM Research AI, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7921-771X","authenticated-orcid":false,"given":"Tom","family":"Williams","sequence":"additional","affiliation":[{"name":"Colorado School of Mines, United States"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1848-7884","authenticated-orcid":false,"given":"Daniel","family":"Szafir","sequence":"additional","affiliation":[{"name":"University of North Carolina at Chapel Hill, United States"}]}],"member":"320","published-online":{"date-parts":[[2023,7,25]]},"reference":[{"key":"e_1_3_2_2_2","volume-title":"1st International Workshop on Virtual, Augmented, and Mixed Reality for HRI (VAM-HRI\u201918)","author":"Allspaw Jordan","year":"2018","unstructured":"Jordan Allspaw, Jonathan Roche, Nicholas Lemiesz, Michael Yannuzzi, and Holly A. 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