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Specifically, the Robot System Assistant (RoSA) framework is evaluated to assess the effectiveness of touch and speech input modalities in these contexts. The participants interact with two robots, <jats:italic>Rosa<\/jats:italic> and <jats:italic>Ari<\/jats:italic>, utilizing both input modalities. The results reveal that touch input excels in precision and task efficiency, while speech input is preferred for its intuitive and natural interaction flow. These findings contribute to understanding the complementary roles of touch and speech in hybrid systems and their potential for future telerobotic applications.<\/jats:p>","DOI":"10.3389\/frobt.2025.1561188","type":"journal-article","created":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T05:30:32Z","timestamp":1753853432000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Robot System Assistant (RoSA): evaluation of touch and speech input modalities for on-site HRI and telerobotics"],"prefix":"10.3389","volume":"12","author":[{"given":"Dominykas","family":"Strazdas","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthias","family":"Busch","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rijin","family":"Shaji","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ingo","family":"Siegert","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ayoub","family":"Al-Hamadi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2025,7,30]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"61980","DOI":"10.1109\/access.2022.3182469","article-title":"Multimodal engagement prediction in multiperson human\u2013robot interaction","volume":"10","author":"Abdelrahman","year":"2022","journal-title":"IEEE Access"},{"key":"B2","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1109\/DeSE.2019.00011","article-title":"Towards the internet of robotic things: analysis, architecture, components and challenges","volume-title":"2019 12th international conference on developments in eSystems engineering (DeSE)","author":"Afanasyev","year":"2019"},{"key":"B3","doi-asserted-by":"crossref","first-page":"188","DOI":"10.1145\/3004107.3004118","article-title":"Comparing gesture, speech and touch interaction modalities for in-vehicle infotainment systems","volume-title":"Proceedings of the 28i\u00e8me conf\u00e9rence francophone sur l\u2019Interaction Homme-Machine","author":"Angelini","year":"2016"},{"key":"B4","first-page":"122","article-title":"Gestural and touchscreen interaction for human-robot collaboration: a comparative study","volume-title":"International conference on intelligent autonomous systems","author":"Bongiovanni","year":"2022"},{"key":"B6","article-title":"SUS: a \u201cQuick and dirty\u201d usability scale. 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