Proxemics: Personal Space in HRI
Space Is Interface
Graphic designers own the canvas. Architects own the building. UX designers own the screen. HRI designers own the physical space between humans and machines.
When we say "space is interface" in HRI, we mean it literally. The distance between a robot and a human at any given moment is not a byproduct of navigation. It is a calculated design variable. It dictates trust, comfort, perceived safety, and task effectiveness.
The path a robot takes is both a routing decision and something nearby people may interpret socially. HRI research examines how approach direction, distance, gaze, robot appearance, familiarity, and context influence those interpretations.
References4 selected references · updated Aug 9, 2026
These sources establish proxemics as context-dependent and show that robot appearance, gaze, familiarity, and interaction context can affect distance. Hall’s zones are a descriptive starting point—not universal robot clearance requirements.
- 01The Hidden DimensionBook
Edward T. Hall · 1966 · Doubleday
Supports: The original proxemics framework and interpersonal distance zones.
- 02Influences on Proxemic Behaviors in Human-Robot InteractionPeer-reviewed research
Leila Takayama and Caroline Pantofaru · 2009 · IEEE/RSJ International Conference on Intelligent Robots and Systems
Supports: How robot and human characteristics influence approach distance and orientation.
- 03Human-Robot Proxemics: Physical and Psychological Distancing in Human-Robot InteractionPeer-reviewed research
Jonathan Mumm and Bilge Mutlu · 2011 · ACM/IEEE International Conference on Human-Robot Interaction
Supports: The relationship between robot behavior, psychological closeness, gaze, and physical distancing.
- 04Preferred Interpersonal Distances: A Global ComparisonPeer-reviewed research
Agata Sorokowska et al. · 2017 · Journal of Cross-Cultural Psychology
Supports: Variation in interpersonal-distance preferences across participants and national contexts.