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However, no holistic theory has been explicitly formulated that can inform how humans and robot swarms should interact through an interface while considering real-world demands, the relative capabilities of the components, as well as the desired joint-system behaviours. In this article, we apply a holistic perspective that we refer to as joint human\u2013swarm loops, that is, a cybernetic system made of human, swarm and interface. We argue that a solution for human\u2013swarm interaction should make the joint human\u2013swarm loop an intelligent system that balances between centralized and decentralized control. The swarm-amplified human is suggested as a possible design that combines perspectives from swarm robotics, human-factors engineering and theoretical neuroscience to produce such a joint human\u2013swarm loop. Essentially, it states that the robot swarm should be integrated into the human\u2019s low-level nervous system function. This requires modelling both the robot swarm and the biological nervous system as self-organizing systems. We discuss multiple design implications that follow from the swarm-amplified human, including a computational experiment that shows how the robot swarm itself can be a self-organizing interface based on minimal computational logic. <\/jats:p>","DOI":"10.1177\/10597123211017550","type":"journal-article","created":{"date-parts":[[2021,7,3]],"date-time":"2021-07-03T10:21:52Z","timestamp":1625307712000},"page":"361-386","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":26,"title":["The design of self-organizing human\u2013swarm intelligence"],"prefix":"10.1177","volume":"30","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8104-3453","authenticated-orcid":false,"given":"Jonas D","family":"Hasbach","sequence":"first","affiliation":[{"name":"Human-Machine-Systems, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany"},{"name":"Humanoid Robots Lab, Computer Science VI, University of Bonn, Bonn, Germany"}]},{"given":"Maren","family":"Bennewitz","sequence":"additional","affiliation":[{"name":"Humanoid Robots Lab, Computer Science VI, University of Bonn, Bonn, Germany"}]}],"member":"179","published-online":{"date-parts":[[2021,7,3]]},"reference":[{"key":"bibr1-10597123211017550","doi-asserted-by":"publisher","DOI":"10.1038\/442125a"},{"key":"bibr2-10597123211017550","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2008.4745884"},{"key":"bibr3-10597123211017550","volume-title":"A pattern language: Towns, buildings, construction","author":"Alexander C.","year":"1977"},{"key":"bibr4-10597123211017550","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140033"},{"key":"bibr5-10597123211017550","doi-asserted-by":"publisher","DOI":"10.1162\/artl.2009.Ampatzis.013"},{"key":"bibr6-10597123211017550","volume-title":"The metaphorical brain 2: Neural networks and beyond","author":"Arbib M. 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