mlsanityData to 7 Oct 2026

Nonverbal Cues in Human-Robot Interaction: A Communication Studies Perspective

arXiv 2304.11293 ↗First posted 22 Apr 2023cs.RO cs.AI cs.CYcited by 16

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Abstract (arXiv)

Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible experiences. In this position paper, we offer a series of definitive nonverbal codes for human-robot interaction (HRI) that address the five human sensory systems (visual, auditory, haptic, olfactory, gustatory) drawn from the field of communication studies. We discuss how these codes can be translated into design patterns for HRI using a curated sample of the communication studies and HRI literatures. As nonverbal codes are an essential mode in human communication, we argue that integrating robotic nonverbal codes in HRI will afford robots a feeling of "aliveness" or "social agency" that would otherwise be missing. We end with suggestions for research directions to stimulate work on nonverbal communication within the field of HRI and improve communication between human and robots.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). Builds on 4 of its 153 references that are in the map. First posted on arXiv 22 Apr 2023.

Builds on

4 of 153 references.

References · 4

  1. 2022What Pronouns for Pepper? A Critical Review of Gender/ing in Researchcited by 9
  2. 2021Measuring Voice UX Quantitatively: A Rapid Reviewcited by 6
  3. 2021Crossing the Tepper Line: An Emerging Ontology for Describing the Dynamic Sociality of Embodied AIcited by 3
  4. 2020Establishing Human-Robot Trust through Music-Driven Robotic Emotion Prosody and Gesturecited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 4; 2026: 6.

16 papers.

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  1. 2024EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learningcited by 6
  2. 2024Predicting the Intention to Interact with a Service Robot:the Role of Gaze Cuescited by 5
  3. 2025HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interactioncited by 4
  4. 2025Social Identity in Human-Agent Interaction: A Primercited by 3
  5. 2026PolySLGen: Online Multimodal Speaking-Listening Reaction Generation in Polyadic Interactioncited by 3
  6. 2024AV-EmoDialog: Chat with Audio-Visual Users Leveraging Emotional Cuescited by 2
  7. 2024SLYKLatent: A Learning Framework for Gaze Estimation Using Deep Facial Feature Learningcited by 1
  8. 2024Qualitative Approaches to Voice UXcited by 1
  9. 2025ChatGPT and U(X): A Rapid Review on Measuring the User Experiencecited by 1
  10. 2026Non-verbal Real-time Human-AI Interaction in Constrained Robotic Environmentscited by 1
  11. 2026Unveiling the Limits of Large Language Models in Inferring Pragmatic Meaning from Non-Verbal Responsescited by 1
  12. 2024QUB-PHEO: A Visual-Based Dyadic Multi-View Dataset for Intention Inference in Collaborative Assemblycited by 0
4 more
  1. 2025DiG-Net: Enhancing Human-Robot Interaction through Hyper-Range Dynamic Gesture Recognition in Assistive Roboticscited by 0
  2. 2026Operationalizing Perceptions of Agent Gender: Foundations and Guidelinescited by 0
  3. 2026Prompt-to-Gesture: Measuring the Capabilities of Image-to-Video Deictic Gesture Generationcited by 0
  4. 2026Real-time body pose non-verbal communication with a consistency-based reliability measurecited by 0