Examining the Difference in Human Behavior Between Virtual and Real-World Human-Robot Teaming

Prototyping and evaluating human-robot teaming (HRT) scenarios in the real-world is costly. Virtual simulation of HRT scenarios has been adopted as an alternative to conducting user studies in the real-world to investigate user perceptions, behaviors, and performance during human-robot interactions. The consistency of human behavior between the real and virtual-worlds is integral to the validity of utilizing such virtual experimentation. This paper presents a user study examining the difference in human behavior between an HRT scenario conducted in a virtual vs real environment. We employed mixed-methods to examine team performance and human factors during the HRT. Our quantitative results showed a significant difference in workload between the two modalities. Our qualitative analysis expanded on the quantitative results and found differences in participants' strategy, their mental model of robots, and the type of trust they had for robots between modalities.