# Using Socially Expressive Mixed Reality Arms for Enhancing Low-Expressivity Robots

arXiv: https://arxiv.org/abs/1911.09713 · HTML: https://mlsanity.com/paper/1911.09713/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Nov 2019.

## Built on by (most cited first, 3 of 3)

- [Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces](https://mlsanity.com/paper/2203.03254/) (2022)
- [Virtual, Augmented, and Mixed Reality for Human-Robot Interaction: A Survey and Virtual Design Element Taxonomy](https://mlsanity.com/paper/2202.11249/) (2022)
- [Ain't Misbehavin' -- Using LLMs to Generate Expressive Robot Behavior in Conversations with the Tabletop Robot Haru](https://mlsanity.com/paper/2402.11571/) (2024)

## Abstract (arXiv)

Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper explores using mixed reality to enhance a robot with limited expressivity by adding virtual arms that extend the robot's expressiveness. The arms, capable of a range of non-physically-constrained gestures, were evaluated in a between-subject study (n=34) where participants engaged in a mixed reality mathematics task with a socially assistive robot. The study results indicate that the virtual arms added a higher degree of perceived emotion, helpfulness, and physical presence to the robot. Users who reported a higher perceived physical presence also found the robot to have a higher degree of social presence, ease of use, usefulness, and had a positive attitude toward using the robot with mixed reality. The results also demonstrate the users' ability to distinguish the virtual gestures' valence and intent.