{"id":"https://openalex.org/W4385979334","doi":"https://doi.org/10.1145/3611655","title":"Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction","display_name":"Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385979334","doi":"https://doi.org/10.1145/3611655"},"language":"en","primary_location":{"id":"doi:10.1145/3611655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3611655","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3611655","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3611655","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013463530","display_name":"Bastian Orthmann","orcid":"https://orcid.org/0000-0001-8542-255X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Bastian Orthmann","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-8542-255X","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082559019","display_name":"Iolanda Leite","orcid":"https://orcid.org/0000-0002-2212-4325"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Iolanda Leite","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-2212-4325","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079600379","display_name":"Roberto Bresin","orcid":"https://orcid.org/0000-0002-3086-0322"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Roberto Bresin","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-3086-0322","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007876385","display_name":"Ilaria Torre","orcid":"https://orcid.org/0000-0002-8601-1370"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ilaria Torre","raw_affiliation_strings":["Chalmers University of Technology, Sweden and KTH Royal Institute of Technology, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-8601-1370","affiliations":[{"raw_affiliation_string":"Chalmers University of Technology, Sweden and KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016","https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013463530"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":2.5274,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89132536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":"4","first_page":"1","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12128","display_name":"AI in Service Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12031","display_name":"Speech and dialogue systems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8550639152526855},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6316683888435364},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6266297101974487},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6022061705589294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5798885822296143},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5176916122436523},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.49684885144233704},{"id":"https://openalex.org/keywords/auditory-feedback","display_name":"Auditory feedback","score":0.47994425892829895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.347692608833313},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2740665078163147},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15364626049995422}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8550639152526855},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6316683888435364},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6266297101974487},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6022061705589294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5798885822296143},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5176916122436523},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49684885144233704},{"id":"https://openalex.org/C2779864741","wikidata":"https://www.wikidata.org/wiki/Q4820027","display_name":"Auditory feedback","level":2,"score":0.47994425892829895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.347692608833313},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2740665078163147},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15364626049995422},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3611655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3611655","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3611655","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},{"id":"pmh:oai:research.chalmers.se:539319","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/539319","pdf_url":"https://research.chalmers.se/publication/539319/file/539319_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1145/3611655","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3611655","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3611655","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1177153622","display_name":null,"funder_award_id":"2017-05189","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G1622777572","display_name":null,"funder_award_id":"2017-05189","funder_id":"https://openalex.org/F4320320940","funder_display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning"},{"id":"https://openalex.org/G3793158386","display_name":null,"funder_award_id":"SSF FFL18-0199","funder_id":"https://openalex.org/F4320320940","funder_display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning"},{"id":"https://openalex.org/G455710082","display_name":null,"funder_award_id":"FFL18-0199","funder_id":"https://openalex.org/F4320320940","funder_display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning"}],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"},{"id":"https://openalex.org/F4320322885","display_name":"NordForsk","ror":"https://ror.org/05bqzfg94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385979334.pdf","grobid_xml":"https://content.openalex.org/works/W4385979334.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W400099226","https://openalex.org/W1570896577","https://openalex.org/W1601919122","https://openalex.org/W1607089218","https://openalex.org/W1975950487","https://openalex.org/W1977386698","https://openalex.org/W1978405625","https://openalex.org/W1984473250","https://openalex.org/W1986218835","https://openalex.org/W1994183641","https://openalex.org/W1995770472","https://openalex.org/W1998447053","https://openalex.org/W2011578113","https://openalex.org/W2024487373","https://openalex.org/W2025602331","https://openalex.org/W2030177205","https://openalex.org/W2041121121","https://openalex.org/W2064574537","https://openalex.org/W2065804258","https://openalex.org/W2131916103","https://openalex.org/W2162846639","https://openalex.org/W2165326489","https://openalex.org/W2168831295","https://openalex.org/W2184854514","https://openalex.org/W2227407841","https://openalex.org/W2527152407","https://openalex.org/W2558438542","https://openalex.org/W2583412656","https://openalex.org/W2594562997","https://openalex.org/W2595229763","https://openalex.org/W2734216264","https://openalex.org/W2736128047","https://openalex.org/W2783072185","https://openalex.org/W2793710373","https://openalex.org/W2793767675","https://openalex.org/W2935088330","https://openalex.org/W2964030743","https://openalex.org/W2967464094","https://openalex.org/W2982865155","https://openalex.org/W3014708024","https://openalex.org/W3030471687","https://openalex.org/W3044438565","https://openalex.org/W3093813762","https://openalex.org/W3094452219","https://openalex.org/W3094467019","https://openalex.org/W3111775938","https://openalex.org/W3135360155","https://openalex.org/W3164009507","https://openalex.org/W3185433272","https://openalex.org/W3207430945","https://openalex.org/W3209096992","https://openalex.org/W3216952601","https://openalex.org/W4200083121","https://openalex.org/W4210320858","https://openalex.org/W4238247913","https://openalex.org/W6713246390"],"related_works":["https://openalex.org/W2041462013","https://openalex.org/W2898119970","https://openalex.org/W2122979195","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Non-verbal":[0],"communication":[1],"is":[2],"important":[3],"in":[4,17,25,62,117],"HRI,":[5],"particularly":[6],"when":[7,146,157],"humans":[8],"and":[9,41,50,60,65,99,127,155,180,184],"robots":[10],"do":[11],"not":[12],"need":[13,32],"to":[14,33,45,47,56,105,124,130,176],"actively":[15],"engage":[16],"a":[18,26,71,106,153],"task":[19],"together,":[20],"but":[21],"rather":[22],"they":[23,43,147,158],"co-exist":[24],"shared":[27],"space.":[28],"Robots":[29],"might":[30],"still":[31],"communicate":[34,57,177],"states":[35,59,179],"such":[36,58],"as":[37,141],"urgency":[38],"or":[39],"availability,":[40],"where":[42,121],"intend":[44],"go,":[46],"avoid":[48],"collisions":[49],"disruptions.":[51],"Sounds":[52],"could":[53,89],"be":[54,90,173],"used":[55,175],"intentions":[61],"an":[63],"intuitive":[64],"non-disruptive":[66],"way.":[67],"Here,":[68],"we":[69,101],"propose":[70],"multi-layer":[72],"classification":[73],"system":[74],"for":[75,96],"displaying":[76],"various":[77],"robot":[78,87,134,178],"information":[79],"simultaneously":[80],"via":[81],"sound.":[82],"We":[83],"first":[84],"conceptualise":[85],"which":[86],"features":[88,162],"displayed":[91],"(robot":[92],"size,":[93],"speed,":[94],"availability":[95],"interaction,":[97],"urgency,":[98],"directionality);":[100],"then":[102,115],"map":[103],"them":[104],"set":[107],"of":[108,166],"audio":[109],"parameters.":[110],"The":[111,136,164],"designed":[112],"sounds":[113,126,137,171],"were":[114,128,138,148,159],"evaluated":[116,149,160],"five":[118],"online":[119],"studies,":[120],"people":[122],"listened":[123],"the":[125,132],"asked":[129],"identify":[131],"associated":[133],"features.":[135],"generally":[139],"understood":[140],"intended":[142,181],"by":[143],"participants,":[144],"especially":[145],"one":[150],"feature":[151],"at":[152],"time,":[154],"partially":[156],"two":[161],"simultaneously.":[163],"results":[165],"these":[167],"evaluations":[168],"suggest":[169],"that":[170],"can":[172],"successfully":[174],"actions":[182],"implicitly":[183],"intuitively.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}