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Effective and fluent close-proximity human-robot interaction requiresunderstanding how humans get habituated to robots and how robot motion affectshuman comfort. While prior work has identified humans' preferences over robotmotion characteristics and studied their influence on comfort, we are yet tounderstand how novice first-time robot users get habituated to robots and howrobot motion impacts the dynamics of comfort over repeated interactions. Totake the first step towards such understanding, we carry out a user study toinvestigate the connections between robot motion and user comfort andhabituation. Specifically, we study the influence of workspace overlap,end-effector speed, and robot motion legibility on overall comfort and itsevolution over repeated interactions. Our analyses reveal that workspaceoverlap, in contrast to speed and legibility, has a significant impact onusers' perceived comfort and habituation. In particular, lower workspaceoverlap leads to users reporting significantly higher overall comfort, lowervariations in comfort, and fewer fluctuations in comfort levels duringhabituation.

The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction