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In human-robot collaborative interaction scenarios, nonverbal communicationplays an important role. Both, signals sent by a human collaborator need to beidentified and interpreted by the robotic system, and the signals sent by therobot need to be identified and interpreted by the human. In this paper, wefocus on the latter. We implemented on an industrial robot in a VR environmentnonverbal behavior signalling the user that it is now their turn to proceedwith a pick-and-place task. The signals were presented in four different testconditions: no signal, robot arm gesture, light signal, combination of robotarm gesture and light signal. Test conditions were presented to theparticipants in two rounds. The qualitative analysis was conducted with focuson (i) potential signals in human behaviour indicating why some participantsimmediately took over from the robot whereas others needed more time toexplore, (ii) human reactions after the nonverbal signal of the robot, and(iii) whether participants showed different behaviours in the different testconditions. We could not identify potential signals why some participants wereimmediately successful and others not. There was a bandwidth of behaviors afterthe robot stopped working, e.g. participants rearranged the objects, looked atthe robot or the object, or gestured the robot to proceed. We found evidencethat robot deictic gestures were helpful for the human to correctly interpretwhat to do next. Moreover, there was a strong tendency that humans interpretedthe light signal projected on the robot's gripper as a request to give theobject in focus to the robot. Whereas a robot's pointing gesture at the objectwas a strong trigger for the humans to look at the object.

It's your turn! -- A collaborative human-robot pick-and-place scenario in a virtual industrial setting