{"id":"https://openalex.org/W4401798392","doi":"https://doi.org/10.1007/s12369-024-01164-8","title":"How Non-experts Kinesthetically Teach a Robot over Multiple Sessions: Diversity in Teaching Styles and Effects on Performance","display_name":"How Non-experts Kinesthetically Teach a Robot over Multiple Sessions: Diversity in Teaching Styles and Effects on Performance","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4401798392","doi":"https://doi.org/10.1007/s12369-024-01164-8"},"language":"en","primary_location":{"id":"doi:10.1007/s12369-024-01164-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01164-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01164-8.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01164-8.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021701361","display_name":"Pourya Aliasghari","orcid":"https://orcid.org/0000-0001-7818-4194"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Pourya Aliasghari","raw_affiliation_strings":["Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7818-4194","affiliations":[{"raw_affiliation_string":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019000422","display_name":"Moojan Ghafurian","orcid":"https://orcid.org/0000-0001-5432-4236"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Moojan Ghafurian","raw_affiliation_strings":["Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048759955","display_name":"Chrystopher L. Nehaniv","orcid":"https://orcid.org/0000-0002-7807-1875"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chrystopher L. Nehaniv","raw_affiliation_strings":["Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059371010","display_name":"Kerstin Dautenhahn","orcid":"https://orcid.org/0000-0002-9263-3897"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kerstin Dautenhahn","raw_affiliation_strings":["Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, 200 University Ave. W., Waterloo, N2L 3G1, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021701361"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":0.9466,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75283647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"16","issue":"11-12","first_page":"2079","last_page":"2105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10672","display_name":"Design Education and Practice","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.6651468276977539},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6080200672149658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4745137095451355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.464506596326828},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4377603530883789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4332980215549469},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.431541383266449},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36483412981033325},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.3235032260417938},{"id":"https://openalex.org/keywords/sociology","display_name":"Sociology","score":0.11207380890846252}],"concepts":[{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.6651468276977539},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6080200672149658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4745137095451355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.464506596326828},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4377603530883789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4332980215549469},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.431541383266449},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36483412981033325},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.3235032260417938},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.11207380890846252},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s12369-024-01164-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01164-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01164-8.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s12369-024-01164-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01164-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01164-8.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6800000071525574,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401798392.pdf"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W1488076994","https://openalex.org/W1507924244","https://openalex.org/W1601599065","https://openalex.org/W1951724000","https://openalex.org/W1980768270","https://openalex.org/W1981903823","https://openalex.org/W1986014385","https://openalex.org/W1990528342","https://openalex.org/W2025427190","https://openalex.org/W2054908983","https://openalex.org/W2062427462","https://openalex.org/W2077324971","https://openalex.org/W2103868202","https://openalex.org/W2104678592","https://openalex.org/W2110525007","https://openalex.org/W2126358124","https://openalex.org/W2137576942","https://openalex.org/W2140527237","https://openalex.org/W2151905266","https://openalex.org/W2157289187","https://openalex.org/W2158026833","https://openalex.org/W2171054284","https://openalex.org/W2327037637","https://openalex.org/W2336960051","https://openalex.org/W2346578806","https://openalex.org/W2500624988","https://openalex.org/W2551105876","https://openalex.org/W2558899534","https://openalex.org/W2787876498","https://openalex.org/W2907652928","https://openalex.org/W2982138725","https://openalex.org/W2994446013","https://openalex.org/W3032993438","https://openalex.org/W3094558535","https://openalex.org/W3134834355","https://openalex.org/W3150814890","https://openalex.org/W3158716008","https://openalex.org/W3193426846","https://openalex.org/W3202764408","https://openalex.org/W3205570260","https://openalex.org/W4200073982","https://openalex.org/W4210974288","https://openalex.org/W4211008118","https://openalex.org/W4214584478","https://openalex.org/W4249362117","https://openalex.org/W4255827778","https://openalex.org/W4283784806","https://openalex.org/W4285408065","https://openalex.org/W4285819051","https://openalex.org/W4312609197","https://openalex.org/W4318815495","https://openalex.org/W4385430517"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"In":[0],"real-world":[1],"applications,":[2],"robots":[3],"should":[4],"adapt":[5,170],"to":[6,16,20,56,171,178],"users":[7,11],"and":[8,89,136,158,189,196],"environments;":[9],"however,":[10],"may":[12],"not":[13],"know":[14],"how":[15,168],"teach":[17,58],"new":[18],"tasks":[19,64],"a":[21,32,59,103],"robot.":[22,148],"We":[23],"studied":[24],"whether":[25],"participants":[26,52,131,150],"without":[27,182],"any":[28,183],"experience":[29],"in":[30,65,105,110,124],"teaching":[31,44,108,146,173,180],"robot":[33,38,61,172],"would":[34],"become":[35],"more":[36],"proficient":[37],"teachers":[39,117],"through":[40],"repeated":[41,67,111,163],"kinesthetic":[42,139],"human\u2013robot":[43,107,179],"interactions.":[45,112],"An":[46],"experiment":[47],"was":[48],"conducted":[49],"with":[50],"twenty-eight":[51],"who":[53],"were":[54,97,118],"asked":[55],"kinesthetically":[57],"humanoid":[60],"different":[62],"cleaning":[63],"five":[66],"sessions,":[68,76],"each":[69],"session":[70],"including":[71],"four":[72],"tasks.":[73],"Throughout":[74],"the":[75,83,94,126,147,155,192],"participants\u2019":[77,122],"gaze":[78],"patterns,":[79],"methods":[80],"of":[81,93,115,130,138,145,194],"manipulating":[82],"robot\u2019s":[84,156],"arm,":[85],"their":[86,134],"perceived":[87,159],"workload,":[88],"some":[90],"physical":[91],"properties":[92],"demonstrated":[95],"actions":[96],"measured.":[98],"Our":[99,165],"data":[100],"analyses":[101],"revealed":[102],"diversity":[104],"non-experts\u2019":[106],"styles":[109],"Three":[113],"clusters":[114],"human":[116,198],"identified":[119],"based":[120],"on":[121],"performance":[123],"providing":[125],"demonstrations.":[127],"The":[128],"majority":[129],"significantly":[132],"improved":[133],"success":[135],"speed":[137],"demonstrations":[140],"by":[141,174],"performing":[142],"multiple":[143],"rounds":[144],"Overall,":[149],"gazed":[151],"less":[152,160],"often":[153],"at":[154],"hand":[157],"effort":[161],"over":[162],"sessions.":[164],"findings":[166],"highlight":[167],"non-experts":[169],"being":[175],"exposed":[176],"repeatedly":[177],"tasks,":[181],"formal":[184],"training":[185],"or":[186],"external":[187],"intervention,":[188],"we":[190],"identify":[191],"characteristics":[193],"successful":[195],"improving":[197],"teachers.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-10-10T00:00:00"}
