Technical limitations of Organic Human-Robot Interaction (O-HRI) for mobile robots moving amongst humans

There is a growing need to make human-robot interaction natural. Its principles were summarized by psychologists under the name O-HRI. If we want to extend the O-HRI concept to mobile robots moving between people, then the most important feature is the indication of intent. The robot can indicate its intention with micro-movements; e.g. if a person comes up against the robot, it indicates in advance with a micro-movement where it will turn. Micromovements have limitations, both on the human streets of perception and on the robot side in technical execution. The most important parameters are the temporal and spatial length of the micromovement, as well as the maximum acceleration. This paper focuses on the technical possibilities and limitations, which help psychologists in what can be technically implemented in robots from human subconscious intent signals in human-human interaction.