{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T03:21:39Z","timestamp":1772940099052,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T00:00:00Z","timestamp":1642550400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002347","name":"Federal Ministry of Education and Research","doi-asserted-by":"publisher","award":["16SV7866K"],"award-info":[{"award-number":["16SV7866K"]}],"id":[{"id":"10.13039\/501100002347","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they \u201csee\u201d the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot\u2019s surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user experiment with participants suffering from physical impairments. In a second remote experiment, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.<\/jats:p>","DOI":"10.3390\/s22030755","type":"journal-article","created":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T21:01:51Z","timestamp":1642626111000},"page":"755","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["My Caregiver the Cobot: Comparing Visualization Techniques to Effectively Communicate Cobot Perception to People with Physical Impairments"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6847-0696","authenticated-orcid":false,"given":"Max","family":"Pascher","sequence":"first","affiliation":[{"name":"Human-Computer Interaction Group, Department of Media Informatics and Communication, Westphalian University of Applied Sciences, 45897 Gelsenkirchen, Germany"},{"name":"Human-Computer Interaction Group, Paluno\u2014The Ruhr Institute for Software Technology, Faculty of Business Administration and Economics, University of Duisburg-Essen, 45127 Essen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0460-3787","authenticated-orcid":false,"given":"Kirill","family":"Kronhardt","sequence":"additional","affiliation":[{"name":"Human-Computer Interaction Group, Department of Media Informatics and Communication, Westphalian University of Applied Sciences, 45897 Gelsenkirchen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0203-7512","authenticated-orcid":false,"given":"Til","family":"Franzen","sequence":"additional","affiliation":[{"name":"Human-Computer Interaction Group, Department of Media Informatics and Communication, Westphalian University of Applied Sciences, 45897 Gelsenkirchen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5671-1640","authenticated-orcid":false,"given":"Uwe","family":"Gruenefeld","sequence":"additional","affiliation":[{"name":"Human-Computer Interaction Group, Paluno\u2014The Ruhr Institute for Software Technology, Faculty of Business Administration and Economics, University of Duisburg-Essen, 45127 Essen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0132-4934","authenticated-orcid":false,"given":"Stefan","family":"Schneegass","sequence":"additional","affiliation":[{"name":"Human-Computer Interaction Group, Paluno\u2014The Ruhr Institute for Software Technology, Faculty of Business Administration and Economics, University of Duisburg-Essen, 45127 Essen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0634-3931","authenticated-orcid":false,"given":"Jens","family":"Gerken","sequence":"additional","affiliation":[{"name":"Human-Computer Interaction Group, Department of Media Informatics and Communication, Westphalian University of Applied Sciences, 45897 Gelsenkirchen, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2022,1,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1142\/S0219843608001303","article-title":"Human\u2013Robot Collaboration: A Survey","volume":"5","author":"Bauer","year":"2008","journal-title":"Int. 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