cs.ROSep 18, 2026

Understanding Engagement and Intrusiveness in Assistive Human-Robot Interaction Using Individual Traits

Authors: Valerio Bo, Lavinia Hriscu, Alberto Sanfeliu, Anaís Garrell

Organizations: Institut de Robòtica i Informàtica Industrial (CSIC-UPC) · Universitat Politècnica de Catalunya (UPC), Barcelona, 08034, Spain.

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Abstract

Robot assistance is particularly crucial in unfamiliar tasks, where users must understand task requirements while coordinating with the robot. Previous research offers mixed evidence on the role of robot proxemics in user engagement: some studies suggest closer proximity enhances interaction, while others report it can feel intrusive. In this work, we argue that perceptions of intrusiveness depend not only on proxemics but also on the frequency of robot interventions, and are strongly influenced by individual traits such as personality and demographics. We conducted an experiment with 32 participants who interacted with two assistive robots that provided similar task support but differed in their intervention strategies. Results indicate that overall engagement remains stable across conditions, yet affective responses and perceived intrusiveness vary significantly with personality traits. Moreover, personality shapes interaction dynamics differently depending on the robot's behavior. These findings emphasize that effective human-robot interaction should account for individual differences, tailoring robot behavior to maintain engagement while respecting each user's unique affective and behavioral profile.

Figures & tables

Fig. 1 : Different robot behaviors. (a) Sequence with a robot trying to maximize engagement by constantly following the person. (b) Sequence in which a robot approaches the person only when requested or when needed by the task.
Fig. 2 : Experimental Setup. The volunteer and the robot shared a workspace where 5 tables were present. Task instructions were placed on Table 0, food items on Table 1, fluid items on Table 2, medicines on Table 3, and the delivery station on Table 4.
Fig. 3 : Personality traits values across preferred system behavior. Boxplots of the 5 personality traits analyzed across the preferred system for each participant. The red dots indicate the mean values and the red lines the median values.
Fig. 4 : Correlations between objective and personality metrics. Scatter plots showcasing correlations across both systems. Solid lines indicate significance with p<0.05p<0.05 ; dashed lines indicate p≥0.05p\geq 0.05 .
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