{"id":"https://openalex.org/W7135040918","doi":"https://doi.org/10.1145/3776734.3794508","title":"A Puppeteering Interface for Teleoperating High Degree-of-Freedom Social Robots","display_name":"A Puppeteering Interface for Teleoperating High Degree-of-Freedom Social Robots","publication_year":2026,"publication_date":"2026-03-12","ids":{"openalex":"https://openalex.org/W7135040918","doi":"https://doi.org/10.1145/3776734.3794508"},"language":"en","primary_location":{"id":"doi:10.1145/3776734.3794508","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.vu.nl/en/publications/d5fecbf1-d864-46bb-9146-b071203a5452","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114467548","display_name":"Roel Van De Laar","orcid":null},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Roel van de Laar","raw_affiliation_strings":["Vrije Universiteit Amsterdam, Amsterdam, Netherlands"],"raw_orcid":"https://orcid.org/0009-0005-5437-4280","affiliations":[{"raw_affiliation_string":"Vrije Universiteit Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023767001","display_name":"Kim Baraka","orcid":"https://orcid.org/0000-0003-4381-4234"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Kim Baraka","raw_affiliation_strings":["Vrije Universiteit Amsterdam, Amsterdam, Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-4381-4234","affiliations":[{"raw_affiliation_string":"Vrije Universiteit Amsterdam, Amsterdam, Netherlands","institution_ids":["https://openalex.org/I865915315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I865915315"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25488365,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"814","last_page":"818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.5406000018119812,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.5406000018119812,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.350600004196167,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.030400000512599945,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.7857999801635742},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5911999940872192},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.590499997138977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5421000123023987},{"id":"https://openalex.org/keywords/session","display_name":"Session (web analytics)","score":0.5220999717712402},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.5149999856948853},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4819999933242798},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4675999879837036},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4392000138759613}],"concepts":[{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.7857999801635742},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.736299991607666},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5911999940872192},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.590499997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5746999979019165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5421000123023987},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.5220999717712402},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4819999933242798},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4675999879837036},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4392000138759613},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43630000948905945},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.4325000047683716},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4117000102996826},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.3944999873638153},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3889000117778778},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3125},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29760000109672546},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28600001335144043},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2786000072956085},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C121449826","wikidata":"https://www.wikidata.org/wiki/Q864114","display_name":"Input device","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2662999927997589}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3776734.3794508","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3776734.3794508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:research.vu.nl:openaire_cris_publications/d5fecbf1-d864-46bb-9146-b071203a5452","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/d5fecbf1-d864-46bb-9146-b071203a5452","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"van de Laar, R & Baraka, K 2026, A Puppeteering Interface for Teleoperating High Degree-of-Freedom Social Robots. in HRI Companion '26: Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery, Inc, pp. 814-818, 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI Companion 2026, Edinburgh, United Kingdom, 16/03/26. https://doi.org/10.1145/3776734.3794508","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:research.vu.nl:publications/d5fecbf1-d864-46bb-9146-b071203a5452","is_oa":true,"landing_page_url":"https://hdl.handle.net/1871.1/d5fecbf1-d864-46bb-9146-b071203a5452","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"van de Laar, R & Baraka, K 2026, A Puppeteering Interface for Teleoperating High Degree-of-Freedom Social Robots. in HRI Companion '26: Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery, Inc, pp. 814-818, 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI Companion 2026, Edinburgh, United Kingdom, 16/03/26. https://doi.org/10.1145/3776734.3794508","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:research.vu.nl:openaire_cris_publications/d5fecbf1-d864-46bb-9146-b071203a5452","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/d5fecbf1-d864-46bb-9146-b071203a5452","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"van de Laar, R & Baraka, K 2026, A Puppeteering Interface for Teleoperating High Degree-of-Freedom Social Robots. in HRI Companion '26: Companion Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery, Inc, pp. 814-818, 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI Companion 2026, Edinburgh, United Kingdom, 16/03/26. https://doi.org/10.1145/3776734.3794508","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.788436770439148,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2016336884","https://openalex.org/W2131799829","https://openalex.org/W2592582799","https://openalex.org/W2962824567","https://openalex.org/W3019814707","https://openalex.org/W3046940268","https://openalex.org/W4220961636","https://openalex.org/W4245990317","https://openalex.org/W4313181376","https://openalex.org/W4318953217","https://openalex.org/W4391305509","https://openalex.org/W4391387884","https://openalex.org/W4392646177","https://openalex.org/W4403918931","https://openalex.org/W4403918968"],"related_works":[],"abstract_inverted_index":{"Teleoperating":[0],"high":[1,15],"degree-of-freedom":[2],"(DoF)":[3],"robots":[4],"such":[5],"as":[6],"humanoids":[7],"in":[8,107,136],"interactive":[9],"settings":[10],"remains":[11],"challenging":[12],"due":[13],"to":[14,52],"operator":[16,116,134],"workload,":[17],"and":[18,81,104,120,133,143],"limited":[19],"situational":[20],"awareness.":[21],"The":[22],"majority":[23],"of":[24,115],"existing":[25],"interfaces":[26],"often":[27],"relies":[28],"on":[29],"graphical":[30],"dashboards,":[31],"limiting":[32],"natural,":[33],"embodied":[34],"control.":[35],"This":[36],"study":[37,88],"explores":[38],"an":[39,70],"alternative":[40],"paradigm:":[41],"\"Robot-as-Interface,\"":[42],"where":[43],"one":[44],"humanoid":[45],"robot":[46],"(the":[47,55],"puppet)":[48],"is":[49],"physically":[50],"manipulated":[51],"control":[53],"another":[54],"performer)":[56],"through":[57],"direct":[58],"joint-to-joint":[59],"mapping.":[60],"Following":[61],"a":[62,82,95,105],"co-design":[63],"session":[64],"with":[65],"expert":[66],"users,":[67],"we":[68],"developed":[69],"improved":[71,100],"interface":[72],"featuring":[73],"joint":[74],"locking,":[75],"head":[76],"orientation":[77],"control,":[78],"blockage":[79],"detection,":[80],"pausing":[83],"toggle.":[84],"A":[85],"between-subjects":[86],"user":[87,144],"(N=26)":[89],"compared":[90],"this":[91],"expert-informed":[92,128],"system":[93,101,122],"against":[94],"baseline.":[96],"Results":[97],"show":[98],"significantly":[99],"usability":[102,132],"(SUS)":[103],"reduction":[106],"perceived":[108],"workload.":[109],"Observations":[110],"further":[111],"revealed":[112],"the":[113],"importance":[114],"pacing,":[117],"spatial":[118],"positioning,":[119],"clear":[121],"feedback.":[123],"Overall,":[124],"results":[125],"indicate":[126],"that":[127,140],"enhancements":[129],"can":[130],"improve":[131],"experience":[135],"puppet\u2013performer":[137],"teleoperation,":[138],"provided":[139],"hardware":[141],"limits":[142],"training":[145],"are":[146],"carefully":[147],"addressed.":[148]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2026-03-13T00:00:00"}