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In order to address the limitations of gestural capabilities in physicalrobots, researchers in Virtual, Augmented, Mixed Reality Human-RobotInteraction (VAM-HRI) have been using augmented-reality visualizations thatincrease robot expressivity and improve user perception (e.g., socialpresence). While a multitude of virtual robot deictic gestures (e.g., pointingto an object) have been implemented to improve interactions within VAM-HRI,such systems are often reported to have tradeoffs between functional and socialuser perceptions of robots, creating a need for a unified approach thatconsiders both attributes. We performed a literature analysis that selectedfactors that were noted to significantly influence either user perception ortask efficiency and propose a set of design considerations and recommendationsthat address those factors by combining anthropomorphic and non-anthropomorphicvirtual gestures based on the motivation of the interaction, visibility of thetarget and robot, salience of the target, and distance between the target androbot. The proposed recommendations provide the VAM-HRI community with startingpoints for selecting appropriate gesture types for a multitude of interactioncontexts.

Augmented Reality Appendages for Robots: Design Considerations and Recommendations for Maximizing Social and Functional Perception