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Fluent human-human teaming is often characterized by tacit interactionwithout explicit communication. This is because explicit communication, such aslanguage utterances and gestures, are inherently interruptive. On the otherhand, tacit interaction requires team situation awareness (TSA) to facilitate,which often relies on explicit communication to maintain, creating a paradox.In this paper, we consider implicit and naturalistic team status projection fortacit human-robot interaction. Implicitness minimizes interruption whilenaturalness reduces cognitive demand, and they together improve responsivenessto robots. We introduce a novel process for such Team status Projection viavirtual Shadows, or TPS. We compare our method with two baselines that useexplicit projection for maintaining TSA. Results via human factors studiesdemonstrate that TPS provides a more fluent human-robot interaction experienceby significantly improving human responsiveness to robots in tacit teamingscenarios, which suggests better TSA. Participants acknowledged robotsimplementing TPS as more acceptable as a teammate and favorable.Simultaneously, we demonstrate that TPS is comparable to, and sometimes betterthan, the best-performing baseline in maintaining accurate TSA

Improving Responsiveness to Robots for Tacit Human-Robot Interaction via Implicit and Naturalistic Team Status Projection