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Hum.-Robot Interact."],"published-print":{"date-parts":[[2025,6,30]]},"abstract":"<jats:p>\n            Conveying the intended goal of a robot arm motion has been shown to increase the quality of human\u2013robot collaboration drastically. To this end, optimization-based approaches have been proposed that optimize the legibility of a robot\u2019s motion. However, they are limited in two ways. First, they are typically not validated in environments with obstacles and narrow passages that require collision-free motion planning. Second, they do not consider the influence of the anthropomorphization process that might be caused by a human-like motion or appearance of the arm. This leads to the question of to what extent the legibility of motions is influenced by these factors. In this work, we study the influence of our previously proposed human-likeness function on the legibility of robot arm motions in the context of sampling-based motion planning. We evaluate it against three other motions: a functional motion, a recorded expert motion, and a legible motion based on a heuristic for the observer\u2019s prediction. For this, we conduct an extensive user study with 94 participants. In contrast to other works, we manipulate the robot\u2019s appearance and the complexity of the environment. We thus provide insights into how the legibility of robot motions is influenced by human-like characteristics in motion, appearance and restricting workspace conditions. The complete stimulus material, raw data and all evaluation scripts used in this work are provided at\n            <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"uri\" xlink:href=\"https:\/\/mytuc.org\/zpvt\">https:\/\/mytuc.org\/zpvt<\/jats:ext-link>\n            .\n          <\/jats:p>","DOI":"10.1145\/3714475","type":"journal-article","created":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T14:28:32Z","timestamp":1737556112000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Effects of Human-Like Characteristics in Sampling-Based Motion Planning on the Legibility of Robot Arm Motions"],"prefix":"10.1145","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0588-2711","authenticated-orcid":false,"given":"Carl","family":"Gaebert","sequence":"first","affiliation":[{"name":"Robotics and Human-Machine Interaction Lab, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7602-8219","authenticated-orcid":false,"given":"Oliver","family":"Rehren","sequence":"additional","affiliation":[{"name":"Institute for Media Research, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5957-8400","authenticated-orcid":false,"given":"Sebastian","family":"Jansen","sequence":"additional","affiliation":[{"name":"Professorship for Psychology of Learning with Digital Media, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9943-5279","authenticated-orcid":false,"given":"Katharina","family":"Jahn","sequence":"additional","affiliation":[{"name":"Professorship for Psychology of Learning with Digital Media, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-8899-6821","authenticated-orcid":false,"given":"Peter","family":"Ohler","sequence":"additional","affiliation":[{"name":"Professorship of Media Psychology, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9717-8478","authenticated-orcid":false,"given":"G\u00fcnter Daniel","family":"Rey","sequence":"additional","affiliation":[{"name":"Professorship for Psychology of Learning with Digital Media, TU Chemnitz, Chemnitz University of Technology, Chemnitz, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3211-4208","authenticated-orcid":false,"given":"Ulrike","family":"Thomas","sequence":"additional","affiliation":[{"name":"Robotics and Human-Machine Interaction Lab, Chemnitz University of Technology, Chemnitz, Germany"}]}],"member":"320","published-online":{"date-parts":[[2025,3,15]]},"reference":[{"key":"e_1_3_1_2_2","first-page":"2640","volume-title":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Akgun Baris","year":"2011","unstructured":"Baris Akgun and Mike Stilman. 2011. 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