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arXiv · 2609.21744

Understanding Engagement and Intrusiveness in Assistive Human-Robot Interaction Using Individual Traits

Valerio Bo·Lavinia Hriscu·Alberto Sanfeliu·Anaís Garrell
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Abstract

Robot assistance is particularly crucial in unfamiliar tasks, where users must understand task requirements while coordinating with the robot. Previous research offers mixed evidence on the role of robot proxemics in user engagement: some studies suggest closer proximity enhances interaction, while others report it can feel intrusive. In this work, we argue that perceptions of intrusiveness depend not only on proxemics but also on the frequency of robot interventions, and are strongly influenced by individual traits such as personality and demographics. We conducted an experiment with 32 participants who interacted with two assistive robots that provided similar task support but differed in their intervention strategies. Results indicate that overall engagement remains stable across conditions, yet affective responses and perceived intrusiveness vary significantly with personality traits. Moreover, personality shapes interaction dynamics differently depending on the robot's behavior. These findings emphasize that effective human-robot interaction should account for individual differences, tailoring robot behavior to maintain engagement while respecting each user's unique affective and behavioral profile.

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Valerio Bo, Lavinia Hriscu, Alberto Sanfeliu, Anaís Garrell. 2026-09-18. Understanding Engagement and Intrusiveness in Assistive Human-Robot Interaction Using Individual Traits. https://arxiv.org/abs/2609.21744

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