Intelligent Moving Display Robots: Human-Centric Design Guidelines for Human–Robot Interaction Designers

Figures & data

Table 1. Summary of previous display robots.

Concept	Explanation
Projection robot (Choi et al., 2013)	By combining a hand-held projector, a mobile robot, and tilt projection, the user can manipulate the display to be projected onto any surface in the space.
Tilting display (Alexander et al., 2012)	A display that allows multi-axis tilting and vertical actuation to allow viewing from various angles
Display using a rotating mirror (Pinhanez, 2001)	Using a rotating mirror, the display can be projected onto any wall in the space.
Display drone (Scheible et al., 2013)	Utilize drones with flight capabilities for more flexible display projection locations

Table 2. Design principles derived from existing studies.

Category	Principles
Reaction	The robot should be ready to promptly respond to user calls (Amershi et al., 2019) The intelligent system should facilitate efficient invocation (Cooney et al., 2011)
Modality	Robot should offer multimodal input to provide users with various methods of interacting with it (Frijns & Schmidbauer, 2021) The robot system should take into account the interplay between various interaction modalities (Frijns & Schmidbauer, 2021)
Personalization	Robot should automatically adjust the screen angle based on the user’s viewing preferences (Block et al., 2023) Robot autonomously adapts its functionality based on the user’s body size and positioning (Block et al., 2023) Learn from user behavior. Personalize the user’s experience by learning from their actions over time (Amershi et al., 2019)
Movement	The robot should approach the user cautiously to avoid collisions (Samarakoon et al., 2023) Robot should possess the ability to maintain appropriate proxemics at the conclusion of an approach, thereby enhancing user comfort and avoiding unexpected collisions (Samarakoon et al., 2023) Give users the predictability they need as well as clear expectations of the next future (Bartoli et al., 2014)

Figure 1. Procedures for the overall research.

Figure 2. Procedures for generating HRI design guidelines.

Figure 3. Experts’ interviews scenarios.

Figure 4. Postures of experts when they interact with the robot.

Table 3. New interaction design guidelines for the display robot.

Category	Guideline
Movement	The movement of the display robot should not be seen as dangerous to the user.
	The display robot does not respond to all movements of the user and must change its position after recognizing the user’s intention.
	The display robot must move to avoid colliding with the user, as well as make positional adjustments for comfortable viewing.
Screen adjustment	It is more important to adjust the screen stably than to adjust the screen in real time.
	The display robot should incorporate a manual mode that allows users to make precise adjustments when necessary.
	The display robot needs to adjust after learning the angle and distance of the display preferred by each individual.
Input modality	The display robot should offer a comfortable means of interaction.
	The display robot should offer a range of interaction methods based on the situation.

Figure 5. Main functions of the prototype.

Figure 6. Home environment and control room.

Figure 7. User satisfaction score.

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