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In this study, we posed the question: To what extent does dynamic matching of an assistive robot's approaching motion velocity to the user's walking velocity contribute to their perception of the robot? To answer this question, we used 2D LiDAR and video recordings to analyze the participants' walking velocity, gestures, facial expressions, and engagement with the robot in a controlled human-robot approach scenario. Additionally, we developed a questionnaire based on the RoSAS combined with open-ended questions and performed thematic and statistical analysis to measure perceived comfort, competence, naturalness, and warmth. The study's findings suggest that the dynamic matching of the robot's motion to the user's walking velocity could positively contribute to the perceived warmth of the robot while minimizing discomfort. In addition, adding a social interaction, such as a handshake or a greeting, could positively influence the user's level of engagement.
Sandanger et al. (Mon,) studied this question.