# "I was Confused by It; It was Confused by Me:" Exploring the Experiences of People with Visual Impairments around Mobile Service Robots

arXiv: https://arxiv.org/abs/2208.13894 · HTML: https://mlsanity.com/paper/2208.13894/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Aug 2022.

## Built on by (most cited first, 2 of 2)

- [DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Grounding](https://mlsanity.com/paper/2307.06924/) (2023)
- [Lost in Instructions: Study of Blind Users' Experiences with DIY Manuals and AI-Rewritten Instructions for Assembly, Operation, and Troubleshooting of Tangible Products](https://mlsanity.com/paper/2602.18630/) (2026)

## Abstract (arXiv)

Mobile service robots have become increasingly ubiquitous. However, these robots can pose potential accessibility issues and safety concerns to people with visual impairments (PVI). We sought to explore the challenges faced by PVI around mainstream mobile service robots and identify their needs. Seventeen PVI were interviewed about their experiences with three emerging robots: vacuum robots, delivery robots, and drones. We comprehensively investigated PVI's robot experiences by considering their different roles around robots -- direct users and bystanders. Our study highlighted participants' challenges and concerns about the accessibility, safety, and privacy issues around mobile service robots. We found that the lack of accessible feedback made it difficult for PVI to precisely control, locate, and track the status of the robots. Moreover, encountering mobile robots as bystanders confused and even scared the participants, presenting safety and privacy barriers. We further distilled design considerations for more accessible and safe robots for PVI.