SRL Proxemics: Spatial Guidelines for Supernumerary Robotic Limbs in Near-Body Interactions

2026-01-31

AI Summary

This study addresses user concerns regarding safety, control, and trust when wearable supernumerary robotic limbs (SRLs) operate within peripersonal space. Through a Wizard-of-Oz experiment (n=18) integrating think-aloud protocols, semi-structured interviews, physiological signals, and post-task ratings, the research systematically investigates how varying levels of autonomy influence perceived safety and trust. The work proposes the SRL Proxemics framework, revealing that users conceptualize peripersonal space as distinctly partitioned and expect different limb components to adhere to specific coordination rules. Notably, higher autonomy does not necessarily enhance perceived safety; instead, spatially congruent and predictable behaviors are more effective in fostering trust. The framework underscores the necessity of fine-grained spatial calibration and enhanced behavioral legibility in SRL design, tailored to both proxemic zones and individual limb segments.

Technology Category

• Intelligent Robots: Human-Robot Interaction
• Natural Language Processing: Safety and Robustness
• Humans and AI: Game Design — Virtual Humans, NPCs and Autonomous Characters

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: Studies of user behavior, including longitudinal effects of personalized systems
• Security and Privacy: Large-scale security measurements

Abstract

Wearable supernumerary robotic limbs (SRLs) sit at the intersection of human augmentation and embodied AI, transforming into extensions of the human body. However, their movements within the intimate near-body space raise unresolved challenges for perceived safety, user control, and trust. In this paper, we present results from a Wizard-of-Oz study (n=18), where participants completed near-body collaboration tasks with SRLs to explore these challenges. We collected qualitative data through think-aloud protocols and semi-structured interviews, complemented by physiological signals and post-task ratings. Findings indicate that greater autonomy did not inherently enhance perceived safety or trust. Instead, participants identified near-body zones and paired them with clear coordination rules. They also expressed expectations for how different arm components should behave, shaping preferences around autonomy, perceived safety, and trust. Building on these insights, we introduce SRL Proxemics, a zone- and segment-level design framework showing that autonomy is not monolithic: perceived safety hinges on spatially calibrated, legible behaviors, not higher autonomy.

Problem

• supernumerary robotic limbs
• proxemics
• near-body interaction
• perceived safety
• trust

Innovation

• SRL Proxemics
• supernumerary robotic limbs
• near-body interaction
• spatial zones
• autonomy calibration