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Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI)has been gaining considerable attention in research in recent years. However,the HRI community lacks a set of shared terminology and framework forcharacterizing aspects of mixed reality interfaces, presenting serious problemsfor future research. Therefore, it is important to have a common set of termsand concepts that can be used to precisely describe and organize the diversearray of work being done within the field. In this paper, we present a noveltaxonomic framework for different types of VAM-HRI interfaces, composed of fourmain categories of virtual design elements (VDEs). We present and justify ourtaxonomy and explain how its elements have been developed over the last 30years as well as the current directions VAM-HRI is headed in the coming decade.

Virtual, Augmented, and Mixed Reality for Human-Robot Interaction: A Survey and Virtual Design Element Taxonomy