Abstract

Human-robot interaction (HRI) requires quantitative models of proxemics and trust for robots to use in negotiating with people for space. Hall’s theory of proxemics has been used for decades to describe social interaction distances but has lacked detailed quantitative models and generative explanations to apply to these cases. In the limited case of
autonomous vehicle interactions with pedestrians crossing a road, a recent model has explained the quantitative sizes of Hall’s distances to 4% error and their links to the concept of trust in human interactions. The present study extends this model by generalising several of its assumptions to cover further cases including human-human and human-robot interactions. It tightens the explanations of Hall zones from 4% to 1% error and fits several more recent empirical HRI results. This may help to further unify these disparate fields and quantify them to a level which enables real-world operational HRI applications.