{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T10:09:29Z","timestamp":1778234969487,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":69,"publisher":"ACM","license":[{"start":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T00:00:00Z","timestamp":1773619200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"DFG, German Research Foundation","award":["425412993"],"award-info":[{"award-number":["425412993"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2026,3,16]]},"DOI":"10.1145\/3795011.3795012","type":"proceedings-article","created":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T08:59:16Z","timestamp":1778230756000},"page":"502-513","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Decoupled Spatial Audio for Room-Integrated Robots: An Augmentation Approach to Navigational Intent Communication"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5901-6811","authenticated-orcid":false,"given":"Carl","family":"Oechsner","sequence":"first","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-2919-4044","authenticated-orcid":false,"given":"Oliver","family":"Deckarm","sequence":"additional","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9007-9888","authenticated-orcid":false,"given":"Andreas","family":"Butz","sequence":"additional","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2987-7634","authenticated-orcid":false,"given":"Francesco","family":"Chiossi","sequence":"additional","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2026,5,8]]},"reference":[{"key":"e_1_3_3_2_2_2","doi-asserted-by":"publisher","unstructured":"Henny Admoni and Brian Scassellati. 2017. Social eye gaze in human-robot interaction: a review. Journal of Human-Robot Interaction 6 1 (2017) 25\u201363. 10.5898\/JHRI.6.1.Admoni","DOI":"10.5898\/JHRI.6.1.Admoni"},{"key":"e_1_3_3_2_3_2","doi-asserted-by":"publisher","unstructured":"Basel Alhaji Michael Prilla and Andreas Rausch. 2021. Trust Dynamics and Verbal Assurances in Human Robot Physical Collaboration. Frontiers in Artificial Intelligence 4 (July 2021) 703504. 10.3389\/frai.2021.703504","DOI":"10.3389\/frai.2021.703504"},{"key":"e_1_3_3_2_4_2","doi-asserted-by":"publisher","unstructured":"Aimee Allen Tom Drummond and Dana Kuli\u0107. 2025. Robots Have Been Seen and Not Heard: Effects of Consequential Sounds on Human-Perception of Robots. IEEE Robotics and Automation Letters 10 4 (April 2025) 3980\u20133987. 10.1109\/LRA.2025.3546097","DOI":"10.1109\/LRA.2025.3546097"},{"key":"e_1_3_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2018.8525557"},{"key":"e_1_3_3_2_6_2","doi-asserted-by":"publisher","unstructured":"Kim Baraka and Manuela\u00a0M. Veloso. 2018. Mobile Service Robot State Revealing Through Expressive Lights: Formalism Design and Evaluation. International Journal of Social Robotics 10 1 (Jan. 2018) 65\u201392. 10.1007\/s12369-017-0431-x","DOI":"10.1007\/s12369-017-0431-x"},{"key":"e_1_3_3_2_7_2","doi-asserted-by":"publisher","unstructured":"Reuben\u00a0M. Baron and David\u00a0A. Kenny. 1986. The Moderator\u2013Mediator Variable Distinction in Social Psychological Research: Conceptual Strategic and Statistical Considerations. Journal of Personality and Social Psychology 51 6 (1986) 1173\u20131182. 10.1037\/0022-3514.51.6.1173","DOI":"10.1037\/0022-3514.51.6.1173"},{"key":"e_1_3_3_2_8_2","doi-asserted-by":"publisher","unstructured":"Dale\u00a0J. Barr Roger Levy Christoph Scheepers and Harry\u00a0J. Tily. 2013. Random Effects Structure for Confirmatory Hypothesis Testing: Keep It Maximal. Journal of Memory and Language 68 3 (April 2013) 255\u2013278. 10.1016\/j.jml.2012.11.001","DOI":"10.1016\/j.jml.2012.11.001"},{"key":"e_1_3_3_2_9_2","doi-asserted-by":"publisher","unstructured":"Douglas Bates Martin M\u00e4chler Ben Bolker and Steve Walker. 2015. Fitting Linear Mixed-Effects Models Using Lme4. Journal of Statistical Software 67 1 (2015) 1\u201348. 10.18637\/jss.v067.i01","DOI":"10.18637\/jss.v067.i01"},{"key":"e_1_3_3_2_10_2","first-page":"1","volume-title":"Audio Engineering Society Conference: 40th International Conference: Spatial Audio: Sense the Sound of Space","author":"Begault Durand","year":"2011","unstructured":"Durand Begault, Elizabeth\u00a0M Wenzel, Martine Godfroy, Joel\u00a0D Miller, and Mark\u00a0R Anderson. 2011. Applying spatial audio to human interfaces: 25 years of NASA experience. In Audio Engineering Society Conference: 40th International Conference: Spatial Audio: Sense the Sound of Space. Audio Engineering Society, Audio Engineering Society, Inc., New York, NY, 1\u201310."},{"key":"e_1_3_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171285"},{"key":"e_1_3_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1145\/3772318.3790523"},{"key":"e_1_3_3_2_13_2","doi-asserted-by":"publisher","unstructured":"Francesco Chiossi Julian Rasch Robin Welsch Albrecht Schmidt and Florian Michahelles. 2025. Designing Intent: A Multimodal Framework for Human-Robot Cooperation in Industrial Workspaces. 10.48550\/ARXIV.2506.15293","DOI":"10.48550\/ARXIV.2506.15293"},{"key":"e_1_3_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/CIVEMSA53371.2022.9853690"},{"key":"e_1_3_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483603"},{"key":"e_1_3_3_2_16_2","doi-asserted-by":"publisher","unstructured":"Ga\u00ebl Dubus and Roberto Bresin. 2013. A Systematic Review of Mapping Strategies for the Sonification of Physical Quantities. PLoS ONE 8 12 (Dec. 2013) e82491. 10.1371\/journal.pone.0082491","DOI":"10.1371\/journal.pone.0082491"},{"key":"e_1_3_3_2_17_2","doi-asserted-by":"crossref","unstructured":"Judy Edworthy Elizabeth Hellier Kathryn Walters Ben Weedon and Austin Adams. 2000. The relationship between task performance reaction time and perceived urgency in nonverbal auditory warnings. Proceedings of the Human Factors and Ergonomics Society Annual Meeting 44 22 (2000) 674\u2013677.","DOI":"10.1177\/154193120004402247"},{"key":"e_1_3_3_2_18_2","doi-asserted-by":"publisher","unstructured":"Judy Edworthy Sarah Loxley and Ian Dennis. 1991. Improving Auditory Warning Design: Relationship between Warning Sound Parameters and Perceived Urgency. Human Factors: The Journal of the Human Factors and Ergonomics Society 33 2 (April 1991) 205\u2013231. 10.1177\/001872089103300206","DOI":"10.1177\/001872089103300206"},{"key":"e_1_3_3_2_19_2","doi-asserted-by":"publisher","unstructured":"Judy Edworthy Scott Reid Katie Peel Samantha Lock Jessica Williams Chloe Newbury Joseph Foster and Martin Farrington. 2018. The Impact of Workload on the Ability to Localize Audible Alarms. Applied Ergonomics 72 (Oct. 2018) 88\u201393. 10.1016\/j.apergo.2018.05.006","DOI":"10.1016\/j.apergo.2018.05.006"},{"key":"e_1_3_3_2_20_2","doi-asserted-by":"publisher","unstructured":"Harvey Fletcher and W.\u00a0A. Munson. 1933. Loudness Its Definition Measurement and Calculation*. Bell System Technical Journal 12 4 (Oct. 1933) 377\u2013430. 10.1002\/j.1538-7305.1933.tb00403.x","DOI":"10.1002\/j.1538-7305.1933.tb00403.x"},{"key":"e_1_3_3_2_21_2","doi-asserted-by":"publisher","unstructured":"Emma Frid and Roberto Bresin. 2022. Perceptual Evaluation of Blended Sonification of Mechanical Robot Sounds Produced by Emotionally Expressive Gestures: Augmenting Consequential Sounds to Improve Non-verbal Robot Communication. International Journal of Social Robotics 14 2 (March 2022) 357\u2013372. 10.1007\/s12369-021-00788-4","DOI":"10.1007\/s12369-021-00788-4"},{"key":"e_1_3_3_2_22_2","doi-asserted-by":"publisher","unstructured":"William\u00a0W Gaver. 1986. Auditory icons: Using sound in computer interfaces. Human-Computer Interaction 2 2 (1986) 167\u2013177. 10.1207\/s15327051hci0202_3","DOI":"10.1207\/s15327051hci0202_3"},{"key":"e_1_3_3_2_23_2","unstructured":"David Griesinger. 1997. The psychoacoustics of apparent source width spaciousness and envelopment in performance spaces. Acta Acustica united with Acustica 83 4 (1997) 721\u2013731."},{"key":"e_1_3_3_2_24_2","doi-asserted-by":"crossref","unstructured":"Huseyin Hacihabiboglu Enzo De\u00a0Sena Zoran Cvetkovic James Johnston and Julius\u00a0O Smith\u00a0III. 2017. Perceptual spatial audio recording simulation and rendering: An overview of spatial-audio techniques based on psychoacoustics. IEEE Signal Processing Magazine 34 3 (2017) 36\u201354.","DOI":"10.1109\/MSP.2017.2666081"},{"key":"e_1_3_3_2_25_2","doi-asserted-by":"crossref","unstructured":"WM Hartmann. 1982. Localization of sound in rooms. The Journal of the Acoustical Society of America 72 S1 (1982) S93\u2013S93.","DOI":"10.1121\/1.2020159"},{"key":"e_1_3_3_2_26_2","volume-title":"The Sonification Handbook","author":"Hermann Thomas","year":"2011","unstructured":"Thomas Hermann, Andrew Hunt, John Neuhoff, and Europ\u00e4ische Zusammenarbeit auf dem Gebiet der Wissenschaftlichen und Technischen Forschung (Eds.). 2011. The Sonification Handbook. Logos Verlag, Berlin."},{"key":"e_1_3_3_2_27_2","doi-asserted-by":"publisher","unstructured":"Nicholas\u00a0J. Hetherington Elizabeth\u00a0A. Croft and H.F.\u00a0Machiel Van Der\u00a0Loos. 2021. Hey Robot Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction. IEEE Robotics and Automation Letters 6 3 (July 2021) 5010\u20135015. 10.1109\/LRA.2021.3068708","DOI":"10.1109\/LRA.2021.3068708"},{"key":"e_1_3_3_2_28_2","first-page":"1","volume-title":"Proceedings of the International Symposium on Room Acoustics (ISRA 2019)","author":"Hollomey Clara","year":"2019","unstructured":"Clara Hollomey and Bernhard\u00a0U. Seeber. 2019. The Apparent Width of Spatially Extended Sources. In Proceedings of the International Symposium on Room Acoustics (ISRA 2019). NAG\/DAGA, Amsterdam, Netherlands, 1\u20137."},{"key":"e_1_3_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376503"},{"key":"e_1_3_3_2_30_2","doi-asserted-by":"publisher","unstructured":"Gunnar Johannsen. 2004. Auditory displays in human\u2013machine interfaces. Proc. IEEE 92 4 (2004) 742\u2013758. 10.1109\/JPROC.2004.825905","DOI":"10.1109\/JPROC.2004.825905"},{"key":"e_1_3_3_2_31_2","doi-asserted-by":"publisher","unstructured":"Ramsundar Kalpagam\u00a0Ganesan Yash\u00a0K. Rathore Heather\u00a0M. Ross and Heni Ben\u00a0Amor. 2018. Better Teaming Through Visual Cues: How Projecting Imagery in a Workspace Can Improve Human-Robot Collaboration. IEEE Robotics & Automation Magazine 25 2 (June 2018) 59\u201371. 10.1109\/MRA.2018.2815655","DOI":"10.1109\/MRA.2018.2815655"},{"key":"e_1_3_3_2_32_2","doi-asserted-by":"publisher","unstructured":"Khaled Kassem Tobias Ungerb\u00f6ck Philipp Wintersberger and Florian Michahelles. 2022. What Is Happening Behind The Wall?: Towards a Better Understanding of a Hidden Robot\u2019s Intent By Multimodal Cues. Proceedings of the ACM on Human-Computer Interaction 6 MHCI (Sept. 2022) 1\u201319. 10.1145\/3546731","DOI":"10.1145\/3546731"},{"key":"e_1_3_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/SOLI54607.2021.9672366"},{"key":"e_1_3_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.5772\/15652"},{"key":"e_1_3_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.21236\/ADA562292"},{"key":"e_1_3_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/RO-MAN46459.2019.8956381"},{"key":"e_1_3_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1145\/3771882.3771894"},{"key":"e_1_3_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2006.314368"},{"key":"e_1_3_3_2_39_2","doi-asserted-by":"publisher","unstructured":"John\u00a0C. Middlebrooks and David\u00a0M. Green. 1991. Sound Localization by Human Listeners. Annual Review of Psychology 42 1 (Jan. 1991) 135\u2013159. 10.1146\/annurev.ps.42.020191.001031","DOI":"10.1146\/annurev.ps.42.020191.001031"},{"key":"e_1_3_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020238"},{"key":"e_1_3_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1145\/1514095.1514110"},{"key":"e_1_3_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1201\/9781420064995"},{"key":"e_1_3_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1145\/3743049.3743064"},{"key":"e_1_3_3_2_44_2","doi-asserted-by":"publisher","unstructured":"Bastian Orthmann Iolanda Leite Roberto Bresin and Ilaria Torre. 2023. Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction. ACM Transactions on Human-Robot Interaction 12 4 (Dec. 2023) 1\u201326. 10.1145\/3611655","DOI":"10.1145\/3611655"},{"key":"e_1_3_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3580857"},{"key":"e_1_3_3_2_46_2","first-page":"1","volume-title":"Proceedings of ICAD 04. Tenth Meeting of the International Conference on Auditory Display","author":"Potard Guillaume","year":"2004","unstructured":"Guillaume Potard and Ian Burnett. 2004. Control and Measurement of Apparent Sound Source Width and Its Applications to Sonification and Virtual Auditory Displays. In Proceedings of ICAD 04. Tenth Meeting of the International Conference on Auditory Display. Georgia Institute of Technology, Sydney, Australia, 1\u20137. hdl:1853\/50849"},{"key":"e_1_3_3_2_47_2","unstructured":"V. Pulkki. 1997. Virtual Sound Source Positioning Using Vector Base Amplitude Panning. Journal of the Audio Engineering Society 45 6 (1997) 456\u2013466."},{"key":"e_1_3_3_2_48_2","doi-asserted-by":"publisher","unstructured":"Maxime Reynal Jean-Paul Imbert Pietro Aric\u00f2 J\u00e9r\u00f4me Toupillier Gianluca Borghini and Christophe Hurter. 2019. Audio Focus: Interactive Spatial Sound Coupled with Haptics to Improve Sound Source Location in Poor Visibility. International Journal of Human-Computer Studies 129 (Sept. 2019) 116\u2013128. 10.1016\/j.ijhcs.2019.04.001","DOI":"10.1016\/j.ijhcs.2019.04.001"},{"key":"e_1_3_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1145\/3563657.3596095"},{"key":"e_1_3_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1145\/3434073.3444658"},{"key":"e_1_3_3_2_51_2","doi-asserted-by":"publisher","unstructured":"Richard Savery Lisa Zahray and Gil Weinberg. 2021. Emotional Musical Prosody for the Enhancement of Trust: Audio Design for Robotic Arm Communication. Paladyn Journal of Behavioral Robotics 12 1 (Dec. 2021) 454\u2013467. 10.1515\/pjbr-2021-0033","DOI":"10.1515\/pjbr-2021-0033"},{"key":"e_1_3_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1049\/cp:20060670"},{"key":"e_1_3_3_2_53_2","doi-asserted-by":"crossref","unstructured":"Bernhard\u00a0U Seeber Stefan Kerber and Ervin\u00a0R Hafter. 2010. A system to simulate and reproduce audio\u2013visual environments for spatial hearing research. Hearing research 260 1-2 (2010) 1\u201310.","DOI":"10.1016\/j.heares.2009.11.004"},{"key":"e_1_3_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-22111-3"},{"key":"e_1_3_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696491"},{"key":"e_1_3_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517719"},{"key":"e_1_3_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696475"},{"key":"e_1_3_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957674"},{"key":"e_1_3_3_2_59_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2017.8172414"},{"key":"e_1_3_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374829"},{"key":"e_1_3_3_2_61_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2019.8673154"},{"key":"e_1_3_3_2_62_2","doi-asserted-by":"publisher","unstructured":"Jacqueline Urakami and Katie Seaborn. 2023. Nonverbal Cues in Human\u2013Robot Interaction: A Communication Studies Perspective. ACM Transactions on Human-Robot Interaction 12 2 (June 2023) 1\u201321. 10.1145\/3570169","DOI":"10.1145\/3570169"},{"key":"e_1_3_3_2_63_2","doi-asserted-by":"publisher","DOI":"10.1016\/B978-008045089-6.50006-X"},{"key":"e_1_3_3_2_64_2","doi-asserted-by":"publisher","unstructured":"Karl Verfaillie and Anja Daems. 2002. Representing and Anticipating Human Actions in Vision. Visual Cognition 9 1-2 (Feb. 2002) 217\u2013232. 10.1080\/13506280143000403","DOI":"10.1080\/13506280143000403"},{"key":"e_1_3_3_2_65_2","doi-asserted-by":"publisher","DOI":"10.1145\/3490632.3490660"},{"key":"e_1_3_3_2_66_2","doi-asserted-by":"publisher","DOI":"10.1145\/3428361.3428466"},{"key":"e_1_3_3_2_67_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354195"},{"key":"e_1_3_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-60369-7"},{"key":"e_1_3_3_2_69_2","doi-asserted-by":"publisher","unstructured":"Brian\u00a0J Zhang and Naomi\u00a0T Fitter. 2023. Nonverbal sound in human-robot interaction: A systematic review. ACM Transactions on Human-Robot Interaction 12 4 (2023) 1\u201346. 10.1145\/3583743","DOI":"10.1145\/3583743"},{"key":"e_1_3_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636365"}],"event":{"name":"AHs 2026: The Augmented Humans International Conference 2026","location":"Okinawa Japan","acronym":"AHs 2026"},"container-title":["Proceedings of the Augmented Humans International Conference 2026"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3795011.3795012","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T09:09:52Z","timestamp":1778231392000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3795011.3795012"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,16]]},"references-count":69,"alternative-id":["10.1145\/3795011.3795012","10.1145\/3795011"],"URL":"https:\/\/doi.org\/10.1145\/3795011.3795012","relation":{},"subject":[],"published":{"date-parts":[[2026,3,16]]},"assertion":[{"value":"2026-05-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}