Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency, contributing to the experience of embodiment. We extend this work by employing embreathment, the representation of the user's own breath in real time, as a means for enhancing user embodiment experience in robots. In a within-subjects experiment, participants controlled a robotic arm, while its movements were either synchronized or non-synchronized with their own breath. Synchrony was shown to significantly increase body ownership, and was preferred by most participants. We propose the representation of physiological signals as a novel interoceptive pathway for human–robot interaction, and discuss implications for telepresence, prosthetics, collaboration with robots, and shared autonomy.

Animacy is central to HRI, as it is critical for perceptions of intentionality and influences acceptance, interaction quality, and trust. In order to better understand the underlying mechanisms of the sense of animacy and its role in HRI, we conducted an experiment (n=13) using a social robotic object that is ambiguous with respect to its perceived animacy. We examined how brain activity related to a subjective animacy rating of the robot by participants after watching it perform simple gestures. Using functional imaging, we found that the ventral occipitotemporal (VOT) cortex, a region known to distinguish animate from inanimate entities, also responds to robots along this same organizational gradient. In an exploratory analysis, activity in the left VOT was associated with the individual differences in participants’ subjective animacy rating of the robot. This extends established principles of animacy perception to non-humanoid robots and suggests that individual differences in brain responses may shape how robots are experienced. We discuss implications for HRI, including guiding social cue design, informing gesture alignment with robot roles, and raising ethical considerations around attachment and trust.

Abstract Augmented reality (AR) introduces new dynamics for personal information sharing by embedding digital content into shared physical spaces. While prior work has examined comfort and privacy concerns in AR, less is known about why people choose to disclose personal information and how social context shapes these decisions. We conducted a mixed-methods study with 20 participants across three fictional scenarios that varied in formality and social norms. Participants disclosed information to clarify identity, build relationships, and strategically manage impressions, yet patterns varied by setting: intimate details were sometimes shared in casual contexts despite acknowledged risks, while professional contexts raised concerns about appropriateness. Based on these findings, we present an AR-adapted disclosure decision model that treats context as an active moderator of perceived risks and benefits and highlights the roles of control and reciprocity in co-present environments. We conclude with design recommendations for context-sensitive privacy mechanisms that support selective and reciprocal disclosure in AR.

We present a sensory substitution-based method for representing locations of remote objects in 3D space via haptics. By imitating auditory localization processes, we enable vibrotactile localization abilities similar to those of some spiders, elephants, and other species. We evaluated this concept in virtual reality by modulating the vibration amplitude of two controllers depending on relative locations to a target. We developed two implementations applying this method using either ear or hand locations. A proof-of-concept study assessed localization performance and user experience, achieving under 30° differentiation between horizontal targets with no prior training. This unique approach enables localization by using only two actuators, requires low computational power, and could potentially assist users in gaining spatial awareness in challenging environments. We compare the implementations and discuss the use of hands as ears in motion, a novel technique not previously explored in the sensory substitution literature.

Virtual museum tours are increasingly used to expand access to cultural heritage, yet their experiential equivalence to physical visits remains unclear. This study compared user experience in physical and virtual tours of the same museum exhibition. Thirty-two participants explored either the physical exhibition or an photo-based 360° virtual tour and completed standardized and custom questionnaires. No significant differences were observed on experiential scales between conditions. However, results revealed distinct spatial usability effects: the physical tour yielded higher ratings for navigation ease, orientation, and backtracking. These results indicate that high-quality virtual tours may replicate some experiential aspects of physical visits but still present challenges in spatial clarity and intuitive wayfinding. The findings contribute insight into where current virtual museum technologies show similarities and differences in navigation, satisfaction, and accessibility in digital heritage experiences.

We present the development process, design considerations and generalized system engineering for the ThermalSense sensory substitution system. The system utilizes visual-to-auditory sensory substitution to convey thermal properties through auditory cues. In an online proof of concept study evaluating the system, participants demonstrated a high level of accuracy in recognizing and localizing thermal information which is otherwise invisible in visual scenes. The ability of users to gain proficiency within a short training period was accompanied by a positive user experience evaluation. These results provide an indication of the system’s potential to enable an extended sense, serving as an extension of visual perception to the range of thermal information beyond its natural capacities. The proposed system architecture, together with these findings, set the ground for the further development of this and similar systems, as well as general advances in the study of sensory perception.