Publications

Michaelis, J., B. Cagiltay, R. Ibtasar, and B. Mutlu. “Off Script:” Design Opportunities Emerging from Long-Term Social Robot Interactions In-the-Wild. Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’23), 2023.

Schoen, A., D. Sullivan, H. Zhang, D. Rakita, and B. Mutlu. Lively: Enabling Multimodal, Lifelike, and Extensible Real-Time Robot Motion. Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’23), 2023.

Stegner, L., E. Senft, and B. Mutlu. “Situated Participatory Design: A Method for In Situ Design of Robotic Interaction With Older Adults”. Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, Association for Computing Machinery, 2023, pp. 1–15.

Porfirio, D., L. Stegner, M. Cakmak, A. Sauppé, A. Albarghouthi, and B. Mutlu. “"Sketching Robot Programs On the Fly"”. Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’23), Association for Computing Machinery, 2023, p. 584-93.

Tang, B., D. Sullivan, B. Cagiltay, V. Chandrasekaran, K. Fawaz, and B. Mutlu. CONFIDANT: A Privacy Controller for Social Robots. Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, 2022, p. 205-14.

Schoen, A., N. White, C. Henrichs, A. Siebert-Evenstone, D. Shaffer, and B. Mutlu. “CoFrame: A System for Training Novice Cobot Programmers”. Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, IEEE Press, 2022, pp. 185–194.

Praveena, P., L. Molina, Y. Wang, E. Senft, B. Mutlu, and M. Gleicher. “Understanding Control Frames in Multi-Camera Robot Telemanipulation”. Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, IEEE Press, 2022, pp. 432–440.

Liu, L., A. Schoen, C. Henrichs, J. Li, B. Mutlu, and R. Radwin. Human Robot Collaboration for Enhancing Work Activities. Human Factors, 2022.

Lee, C., B. Cagiltay, and B. Mutlu. The Unboxing Experience: Exploration and Design of Initial Interactions Between Children and Social Robots. CHI ’22: CHI Conference on Human Factors in Computing Systems, 2022.

Cagiltay, B., J. Michaelis, S. Sebo, and B. Mutlu. Exploring Children’s Preferences for Taking Care of a Social Robot. IDC ’22: Interaction Design and Children, 2022.

Cagiltay, B., N. White, R. Ibtasar, B. Mutlu, and J. Michaelis. Understanding Factors That Shape Children’s Long Term Engagement With an In-Home Learning Companion Robot. IDC ’22: Interaction Design and Children, 2022.

Stegner, L., and B. Mutlu. “Designing for Caregiving: Integrating Robotic Assistance in Senior Living Communities”. Proceedings of the 2022 ACM Designing Interactive Systems Conference, Association for Computing Machinery, 2022, pp. 1934–1947.

Hagenow, M., E. Senft, R. Radwin, M. Gleicher, B. Mutlu, and M. Zinn. “Corrective Shared Autonomy for Addressing Task Variability”. IEEE Robotics and Automation Letters, Vol. 6, no. 2, 2021, pp. 3720-7.

White, N., B. Cagiltay, J. Michaelis, and B. Mutlu. “Designing Emotionally Expressive Social Commentary to Facilitate Child-Robot Interaction”. Interaction Design and Children, Association for Computing Machinery, 2021, pp. 314–325.

Ho, H.-R., B. Cagiltay, N. White, E. Hubbard, and B. Mutlu. “"RoboMath Designing a Learning Companion Robot to Support Children’s Numerical Skills"”. Interaction Design and Children, Association for Computing Machinery, 2021.

Porfirio, D., L. Stegner, M. Cakmak, A. Sauppé, A. Albarghouthi, and B. Mutlu. “"Figaro: A Tabletop Authoring Environment for Human-Robot Interaction"”. CHI ’21: Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems, Association for Computing Machinery, 2021, pp. 1-15.

Turkstra, L., B. Mutlu, C. Ryan, E. Despins Stafslien, E. Richmond, E. Hosokawa, and M. Duff. “Sex and Gender Differences in Emotion Recognition and Theory of Mind After TBI: A Narrative Review and Directions for Future research”. Frontiers in Neurology, Vol. 11, Frontiers, 2020.

Terzioğlu, Y., B. Mutlu, and E. Şahin. “Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration”. Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, 2020.

Michaelis, J., A. Siebert-Evenstone, D. Shaffer, B. Mutlu, and B. Mutlu. “Collaborative or Simply Uncaged? Understanding Human-Cobot Interactions in Automation”. Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems, 2020, pp. 1-12.

Porfirio, D., A. Sauppé, A. Albarghouthi, and B. Mutlu. “Transforming Robot Programs Based on Social Context”. Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems, 2020, pp. 1-12.

Schoen, A., C. Henrichs, M. Strohkirch, and B. Mutlu. “Authr: A Task Authoring Environment for Human-Robot Teams”. Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology, 2020, pp. 1194-08.

Mutlu, B. Virtual and Physical: Two Frames of Mind. 2020.

Zhao, F., C. Henrichs, and B. Mutlu. “Task Interdependence in Human-Robot Teaming”. 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), IEEE, 2020, pp. 1143-9.

Cagiltay, B., H. R. Ho, J. Michaelis, and B. Mutlu. “Investigating Family Perceptions and Design Preferences for an in-Home robot”. Proceedings of the Interaction Design and Children Conference, 2020, pp. 229-42.

Praveena, P., D. Rakita, B. Mutlu, and M. Gleicher. “Supporting Perception of Weight through Motion-Induced Sensory Conflicts in Robot Teleoperation”. Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, 2020, pp. 509-17.

Rakita, D., B. Mutlu, and M. Gleicher. “Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation”. HRI, 2020, pp. 519-27.

Deng, E., B. Mutlu, and M. Mataric. Embodiment in Socially Interactive robots. 2019.

Michaelis, J., and B. Mutlu. “Supporting Interest in Science Learning With a Social robot”. Proceedings of the 18th ACM International Conference on Interaction Design and Children, ACM, 2019, pp. 71-82.

Porfirio, D., E. Fisher, A. Sauppé, A. Albarghouthi, and B. Mutlu. “Bodystorming Human-Robot interactions”. Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology, ACM, 2019, pp. 479-91.

Rakita, D., B. Mutlu, and M. Gleicher. “Remote Telemanipulation With Adapting Viewpoints in Visually Complex Environments.”. Robotics: Science and Systems, 2019.

Rakita, D., B. Mutlu, M. Gleicher, and L. Hiatt. “Shared control–based Bimanual Robot manipulation”. Science Robotics, 2019.

Gleicher, M., B. Mutlu, and D. Rakita. “Stampede: A Discrete-Optimization Method for Solving Pathwise-Inverse kinematics”. 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 3507-13.

Byom, L., M. Duff, B. Mutlu, and L. Turkstra. “Facial Emotion Recognition of Older Adults With Traumatic Brain injury”. Brain Injury, 2019, pp. 322-3.

Praveena, P., G. Subramani, B. Mutlu, and M. Gleicher. “Characterizing Input Methods for Human-to-Robot demonstrations”. 2019 14th ACM/IEEE International Conference on Human-Robot Interaction, 2019.

Turkstra, L., M. Duff, A. Politis, and B. Mutlu. “Detection of Text-Based Social Cues in Adults With Traumatic Brain injury”. Neuropsychological Rehabilitation, Vol. 29, no. 5, Routledge, 2019, pp. 789-03.

Rigon, A., M. Voss, L. Turkstra, B. Mutlu, and M. Duff. “Functional Neural Correlates of Facial Affect Recognition Impairment Following TBI”. Brain Imaging and Behavior, Vol. 13, no. 2, Springer US, 2019, pp. 526-40.

Porfirio, D., A. Sauppé, A. Albarghouthi, and B. Mutlu. “Computational Tools for Human-Robot Interaction design”. 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), IEEE, 2019, pp. 733-5.

Mutlu, B., M. Duff, and L. Turkstra. “Social-Cue Perception and Mentalizing Ability Following Traumatic Brain Injury: A Human-Robot Interaction study”. Brain Injury, Vol. 33, no. 1, Taylor & Francis, 2019, pp. 23-31.

Rigon, A., M. Duff, M. Voss, L. Turkstra, and B. Mutlu. “White Matter Correlates of Different Aspects of Facial Affect Recognition Impairment Following Traumatic Brain injury”. Social Neuroscience, Vol. 14, no. 4, 2019, pp. 434-48.

Flynn, M., A. Rigon, R. Kornfield, B. Mutlu, M. Duff, and L. Turkstra. “Characterizing Computer-Mediated Communication, Friendship, and Social Participation in Adults With Traumatic Brain injury”. Brain Injury, Vol. 33, no. 8, 2019, pp. 1097-04.

Mutlu (Editor), B., M. Duff, and L. Turkstra. The Regulation of Intimacy and Personal Space Following Traumatic Brain Injury: A Human-Robot Interaction Study. Vol. 33, TAYLOR & FRANCIS LTD, 2019, pp. 72-73.

Duff, M., A. Rigon, J. Kim, B. Mutlu, and L. Turkstra. Individual Differences in Social Perception and Social Communication in Adults With Moderate-Severe Traumatic Brain Injury. Vol. 33, TAYLOR & FRANCIS LTD, 2019, p. 46.

Edwards, M., A. Rigon, B. Mutlu, L. Turkstra, M. Voss, and M. Duff. “White Matter Correlates of Theory of Mind Impairment in TBI: Structural Integrity of the Uncinate Fasciculus Is Related to Performance on the Reading the Mind in the Eyes Task”. BRAIN INJURY, Vol. 33, TAYLOR & FRANCIS LTD, 2019, p. 254.

Praveena, P., G. Subramani, B. Mutlu, and M. Gleicher. “Characterizing Input Methods for Human-to-Robot Demonstrations”. Proceedings of the 2019 ACM/IEEE International Conference on Human-Robot Interaction, IEEE, 2019, pp. 344-53.

Praveena, P., D. Rakita, B. Mutlu, and M. Gleicher. “User-Guided Offline Synthesis of Robot Arm Motion from 6-DoF Paths”. 2019 International Conference on Robotics and Automation (ICRA), IEEE, 2019, pp. 8825-31.

Rakita, D., B. Mutlu, and M. Gleicher. “RelaxedIK: Real-Time Synthesis of Accurate and Feasible Robot Arm Motion”. Robotics: Science and Systems, 2018, pp. 26-30.

Rakita, D., B. Mutlu, and M. Gleicher. “An Autonomous Dynamic Camera Method for Effective Remote teleoperation”. Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2018.

Pearce, M., B. Mutlu, J. Shah, and R. Radwin. “Optimizing Makespan and Ergonomics in Integrating Collaborative Robots into Manufacturing processes”. IEEE Transactions on Automation Science and Engineering, no. 15, IEEE, 2018, pp. 1772-84.

Michaelis, J., and B. Mutlu. “Reading Socially: Transforming the in-Home Reading Experience With a Learning-Companion robot”. Science Robotics, 2018.

Porfirio, D., A. Sauppé, A. Albarghouthi, and B. Mutlu. “Authoring and Verifying Human-Robot interactions”. Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology, 2018, pp. 75-86.

Paxton, C., F. Jonathan, A. Hundt, B. Mutlu, and G. Hager. “Evaluating Methods for End-User Creation of Robot Task plans”. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, pp. 6086-92.

Turkstra, L., R. Norman, B. Mutlu, and M. Duff. “Impaired Theory of Mind in Adults With Traumatic Brain Injury: A Replication and Extension of findings”. Neuropsychologia, no. 111, 2018, pp. 117-22.

Turkstra, L., B. Mutlu, M. Duff, and A. Rigon. “Facial-Affect Recognition Deficit As a Predictor of Different Aspects of Social-Communication Impairment in Traumatic Brain injury.”. Neuropsychology, no. 32, 2018, p. 476.

Meschtscherjakov, A., M. Tscheligi, B. Pfleging, S. Sadeghian Borojeni, W. Ju, P. Palanque, A. Riener, B. Mutlu, and A. Kun. “Interacting With Autonomous Vehicles: Learning from Other domains”. Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems, 2018.

Rakita, D., B. Mutlu, M. Gleicher, and L. Hiatt. “Shared Dynamic Curves: A Shared-Control Telemanipulation Method for Motor Task training”. Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2018.

Rigon, A., M. Voss, L. Turkstra, B. Mutlu, and M. Duff. “Different Aspects of Facial Affect Recognition Impairment Following Traumatic Brain Injury: The Role of Perceptual and Interpretative abilities”. Journal of Clinical and Experimental Neuropsychology, Vol. 40, no. 8, Routledge, 2018, pp. 805-19.

Chandrasekaran, V., K. Fawaz, B. Mutlu, and S. Banerjee. “Characterizing Privacy Perceptions of Voice Assistants: A Technology Probe study”. IEEE Security and Privacy Workshops (SPW), 2018.

Flynn, M., B. Mutlu, M. Duff, and L. Turkstra. “Friendship Quality, Friendship Quantity, and Social Participation in Adults With Traumatic Brain injury”. Seminars in Speech and Language , Vol. 39, no. 5, 2018.

Bodden, C., D. Rakita, B. Mutlu, and M. Gleicher. “A Flexible Optimization-Based Method for Synthesizing Intent-Expressive Robot Arm motion”. The International Journal of Robotics Research, Vol. 37, no. 11, 2018, pp. 1376-94.

Deng, E., B. Mutlu, and M. Matarić. “Formalizing the Design Space and Product Development Cycle for Socially Interactive robots”. Workshop on Social Robots in the Wild at the 2018 ACM Conference on Human-Robot Interaction (HRI), 2018.

Chandrasekaran, V., T. Linden, K. Fawaz, B. Mutlu, and S. Banerjee. BlackOut and Obfuscator: An Exploration of the Design Space for Privacy-Preserving Interventions for Voice Assistants. 2018.

Politis, A., B. Mutlu, L. Turkstra, and M. Duff. “Psychological Distress and Communication Challenges in Adults With TBI”. Archives of Physical Medicine and Rehabilitation, Vol. 99, no. 11, Elsevier, 2018.

Michaelis, J., and B. Mutlu. “Social Reading: Field Study With an In-Home Learning Companion Robot”. Science Robotics , International Society of the Learning Sciences, Inc.[ISLS]., 2018.

Turkstra, L., M. Duff, A. Politis, and B. Mutlu. “Detection of Text-Based Social Cues in Adults With Traumatic Brain injury”. Neuropsychological Rehabilitation, 2017, pp. 1-15.

Michaelis, J., and B. Mutlu. “Someone to Read With: Design of and Experiences With an In-Home Learning Companion Robot for Reading”. Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, ACM, 2017, pp. 301-12.

Choi, M., R. Kornfield, L. Takayama, and B. Mutlu. “Movement Matters: Effects of Motion and Mimicry on Perception of Similarity and Closeness in Robot-Mediated Communication”. Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, ACM, 2017, pp. 325-3.

Andrist, S., M. Gleicher, and B. Mutlu. “Looking Coordinated: Bidirectional Gaze Mechanisms for Collaborative Interaction With Virtual Characters”. Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, ACM, 2017, pp. 2571-82.

Paxton, C., F. Jonathan, A. Hundt, B. Mutlu, and G. D. Hager. User Experience of the CoSTAR System for Instruction of Collaborative Robots. 2017.

Szafir, D., B. Mutlu, and M. Gleicher. “Designing Planning and Control Interfaces to Support User Collaboration With Flying robots”. The International Journal of Robotics Research, 2017.

Rakita, D., B. Mutlu, and M. Gleicher. “A Motion Retargeting Method for Effective Mimicry-Based Teleoperation of Robot Arms”. Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2017, pp. 361-70.

Turkstra, L., S. G. Kraning, S. K. Riedeman, B. Mutlu, M. Duff, and S. VanDenHeuvel. “Labelling Facial Affect in Context in Adults With and Without TBI”. Brain Impairment, 2017, pp. 49-61.

Rigon, A., M. Voss, L. Turkstra, B. Mutlu, and M. Duff. “Relationship Between Individual Differences in Functional Connectivity and Facial-Emotion Recognition Abilities in Adults With Traumatic Brain injury”. NeuroImage: Clinical, 2017, pp. 370-7.

Bodden, C., B. Mutlu, and M. Gleicher. Systems For Synthesizing and Studying Robot Motion. 2016.

Andrist, S., D. Bohus, B. Mutlu, and D. Schlangen. “Turn-Taking and Coordination in Human-Machine Interaction”. AI Magazine, 2016.

Pejsa, T., D. Rakita, B. Mutlu, and M. Gleicher. “Authoring Directed Gaze for Full-Body Motion capture”. ACM Transactions on Graphics, ACM, 2016.

Rakita, D., B. Mutlu, and M. Gleicher. “Motion Synopsis for Robot Arm trajectories”. Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on, IEEE, 2016, pp. 281-7.

Bodden, C., D. Rakita, B. Mutlu, and M. Gleicher. “Evaluating Intent-Expressive Robot Arm motion”. Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on, IEEE, 2016, pp. 658-63.

Mutlu, B., N. Roy, and S. Sabanovic. “Cognitive Human--Robot Interaction”. Springer Handbook of Robotics, Springer International Publishing, 2016.

Rigon, A., M. W. Voss, L. S. Turkstra, B. Mutlu, and M. C. Duff. “Frontal and Temporal Structural Connectivity Is Associated With Social Communication Impairment Following Traumatic Brain Injury”. Journal of the International Neuropsychological Society, 2016, pp. 705-16.

Turkstra, L., M. Duff, and B. Mutlu. “Sex Vs Gender Effects on Self-Reported Executive Function After TBI”. BRAIN INJURY, TAYLOR & FRANCIS INC, 2016, pp. 679-80.

Turkstra, L., A. Politis, M. Duff, and B. Mutlu. “Response to Text-Based Social Cues in Adults With Traumatic Brain injury”. BRAIN INJURY, TAYLOR & FRANCIS INC, 2016, pp. 717-.

Rigon, A., L. Turkstra, B. Mutlu, and M. Duff. “The Female Advantage: Sex As a Possible Protective Factor Against Emotion Recognition Impairment Following Traumatic Brain injury”. Cognitive, Affective, & Behavioral Neuroscience, 2016, pp. 866-75.

Herring, S. C., S. R. Fussell, A. Kristoffersson, B. Mutlu, C. Neustaedter, and K. Tsui. “The Future of Robotic Telepresence: Visions, Opportunities and Challenges”. Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, ACM, 2016, pp. 1038-42.

Sirkin, D., N. Martelaro, H. Tennent, M. Johns, B. Mok, W. Ju, G. Hoffman, H. Knight, B. Mutlu, and L. Takayama. “Design Skills for HRI”. 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), IEEE, 2016, pp. 581-2.

Gibson, M., J. Lee, V. Venkatraman, M. Price, J. Lewis, O. Montgomery, B. Mutlu, J. Domeyer, and J. Foley. “Situation Awareness, Scenarios, and Secondary Tasks: Measuring Driver Performance and Safety Margins in Highly Automated Vehicles”. SAE International Journal of Passenger Cars-Electronic and Electrical Systems, SAE, 2016, pp. 237-42.

Huang, C.-M., and B. Mutlu. “Anticipatory Robot Control for Efficient Human-Robot collaboration”. 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), IEEE, 2016, pp. 83-90.

Price, M. A., V. Venkatraman, M. Gibson, J. Lee, and B. Mutlu. “Psychophysics of Trust in Vehicle Control Algorithms (Technical Report)”. SAE Technical Paper, SAE, 2016.

Sauppé, A., and B. Mutlu. “Effective Task Training Strategies for Human and Robot instructors”. Autonomous Robots, no. 39, Autonomous Robots, 2015, pp. 313-29.

Mutlu, B., and D. Szafir. “Teaching System for Improving Information Retention Based on Brain-State monitoring”. US Patent 9,224,309, 2015.

Andrist, S., G. Bugmann, J. Connell, D. Dufty, F. Grondin, F. Michaud, N. Mirnig, R. Moore, S. Mushkin, and B. Mutlu. Robots That Talk and Listen: Technology and Social Impact. 2015.

Broz, F., H. Lehmann, B. Mutlu, and Y. Nakano. Gaze in Human-Robot Communication. 2015.

Rakita, D., T. Pejsa, B. Mutlu, and M. Gleicher. “Inferring Gaze Shifts from Captured Body motion”. ACM SIGGRAPH 2015 Posters, ACM, 2015, p. 77.

Sauppe, A., and B. Mutlu. “Effective Task Training Strategies for Human and Robot instructors”. Autonomous Robots, 2015, pp. 313-29.

Huang, C.-M., S. Andrist, A. Sauppe, and B. Mutlu. “Using Gaze Patterns to Predict Task Intent in collaboration”. Frontiers in Psychology, 2015, p. 1049.

Andrist, S., W. Collier, M. Gleicher, B. Mutlu, and D. Shaffer. “Look Together: Analyzing Gaze Coordination With Epistemic Network analysis”. Frontiers in Psychology, 2015.

Huang, C.-M., M. Cakmak, and B. Mutlu. “Adaptive Coordination Strategies for Human-Robot Handovers”. Robotics: Science and Systems, 2015.

Duff, M. C., B. Mutlu, L. J. Byom (Editor), and L. S. Turkstra. “Novel Theoretical and Methodological Approaches to Disruptions in Social Communication Following Acquired Brain injury”. Routledge Handbook of Communication Disorders, 2015, p. 404.

Ruhland, K., C. E. Peters, S. Andrist, J. B. Badler, N. I. Badler, M. Gleicher, B. Mutlu, and R. McDonnell. “A Review of Eye Gaze in Virtual Agents, Social Robotics and Hci: Behaviour Generation, User Interaction and perception”. Computer Graphics Forum, 2015, pp. 299-26.

Kanaoka, T., and B. Mutlu. “Designing a Motivational Agent for Behavior Change in Physical Activity”. Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems, ACM, 2015, pp. 1445-50.

Rae, I., B. Mutlu, G. M. Olson, J. S. Olson, L. Takayama, and G. Venolia. “Everyday Telepresence: Emerging Practices and Future Research directions”. Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems, ACM, 2015, pp. 2409-12.

Clodic, A., R. Alami, C. Vesper, E. Pacherie, B. Mutlu, and J. A. Shah. “FJA@ HRI15: Towards a Framework for Joint Action”. Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts, ACM, 2015, pp. 259-60.

Sauppe, A., and B. Mutlu. “The Social Impact of a Robot Co-Worker in Industrial settings”. Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, ACM, 2015, pp. 3613-22.

Sauppe, A., D. Szafir, C.-M. Huang, and B. Mutlu. “From 9 to 90: Engaging Learners of All ages”. Proceedings of the 46th ACM Technical Symposium on Computer Science Education, ACM, 2015, pp. 575-80.

Johnson, S., I. Rae, B. Mutlu, and L. Takayama. “Can You See Me now?: How Field of View Affects Collaboration in Robotic Telepresence (Inproceedings)”. Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, ACM, 2015, pp. 2397-06.

Andrist, S., B. Mutlu, and A. Tapus. “Look Like Me: Matching Robot Personality via Gaze to Increase motivation”. Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, ACM, 2015, pp. 3603-12.

Andrist, S., M. Ziadee, H. Boukaram, B. Mutlu, and M. Sakr. “Effects of Culture on the Credibility of Robot Speech: A Comparison Between English and Arabic”. Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2015, pp. 157-64.

Szafir, D., B. Mutlu, and T. Fong. “Communicating Directionality in Flying robots”. Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2015, pp. 19-26.

Johnson, S., M. Gibson, and B. Mutlu. “ Handheld or Handsfree?: Remote Collaboration via Lightweight Head-Mounted Displays and Handheld Devices”. Proceedings of the 18th ACM Conference on Computer Supported Cooperative Work & Social Computing, ACM, 2015, pp. 1825-36.

Pejsa, T., S. Andrist, M. Gleicher, and B. Mutlu. “Gaze and Attention Management for Embodied Conversational agents”. ACM Transactions on Interactive Intelligent Systems (TiiS), ACM, 2015, p. 3.

Sauppé, A., and B. Mutlu. Effective Task Training Strategies for Instructional Robots. 2014.

Mutlu, B. From Tele-Presence to Tele-Mobility: Exploring the Design Space for Robotic Communication Products. 2014.

Huang, C.-M., B. Mutlu, T. Iio, S. Satake, and T. Kanda. “Modeling Human-Robot Interactions As Systems of Distributed Cognition”. Proc. AAAI Fall Sympositum on Artificial Intelligence and Human-Robot Interaction, 2014, pp. 32-37.

Mutlu, B. Human-Centered Principles and Methods for Designing Robotic Technologies. 2014.

Huang, C.-M., and B. Mutlu. “Multivariate Evaluation of Interactive Robot systems”. Autonomous Robots, 2014, pp. 335-49.

Mutlu, B., and A. Sauppe. “Effective Task Training Strategies for Instructional Robots”. Robotics: Science and Systems, 2014.

Kim, Y., and B. Mutlu. “How Social Distance Shapes Human--Robot interaction”. International Journal of Human-Computer Studies, 2014, pp. 783-95.

Ruhland, K., S. Andrist, J. Badler, C. Peters, N. Badler, M. Gleicher, B. Mutlu, and R. Mcdonnell. “Look Me in the Eyes: A Survey of Eye and Gaze Animation for Virtual Agents and Artificial systems”. Eurographics State-of-the-Art Report, 2014, pp. 69-91.

Rehm, M., M. J. Mataric, B. Mutlu, and T. Nomura. “Culture-Aware Robotics (CARs)”. Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2014, p. 508.

Sauppe, A., and B. Mutlu. “Design Patterns for Exploring and Prototyping Human-Robot interactions”. Proceedings of the 32nd Annual ACM Conference on Human Factors in Computing Systems, ACM, 2014, pp. 1439-48.

Huang, C.-M., and B. Mutlu. “Learning-Based Modeling of Multimodal Behaviors for Humanlike robots”. Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2014, pp. 57-64.

Sauppe, A., and B. Mutlu. “How Social Cues Shape Task Coordination and communication”. Proceedings of the 17th ACM Conference on Computer Supported Cooperative Work & Social Computing, ACM, 2014, pp. 97-108.

Sauppe, A., and B. Mutlu. “Robot Deictics: How Gesture and Context Shape Referential communication”. Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2014, pp. 342-9.

Andrist, S., X. Z. Tan, M. Gleicher, and B. Mutlu. “Conversational Gaze Aversion for Humanlike robots”. Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2014, pp. 25-32.

Szafir, D., B. Mutlu, and T. Fong. “Communication of Intent in Assistive Free flyers”. Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2014, pp. 358-65.

Rae, I., B. Mutlu, and L. Takayama. “Bodies in Motion: Mobility, Presence, and Task Awareness in telepresence”. Proceedings of the 32nd Annual ACM Conference on Human Factors in Computing Systems, ACM, 2014, pp. 2153-62.

Pejsa, T., B. Mutlu, and M. Gleicher. Animating the Gaze Behavior of Virtual Characters. 2013.

Broz, F., H. Lehmann, B. Mutlu, Y. Nakano, and U. Hatfield. “Introduction to the Special Issue on Gaze in Human-Robot Communication”. Interaction Studies, no. 14, 2013, p. vii-xv.

Miller, S., B. Mutlu, and J. Lee. “Artifact Usage, Context, and Privacy Management in Logging and Tracking Personal Health Information in Older Adults”. Proceedings of the Human Factors and Ergonomics Society Annual Meeting, SAGE Publications, 2013, pp. 1027-31.

Andrist, S., B. Mutlu, and M. Gleicher. “Conversational Gaze Aversion for Virtual agents”. International Workshop on Intelligent Virtual Agents, Springer Berlin Heidelberg, 2013, pp. 249-62.

Byom, L. J., and B. Mutlu. “Theory of Mind: Mechanisms, Methods, and New directions”. Frontiers in Human Neuroscience, 2013.

Huang, C.-M., and B. Mutlu. “The Repertoire of Robot Behavior: Enabling Robots to Achieve Interaction Goals through Social behavior”. Journal of Human-Robot Interaction, 2013, pp. 80-102.

Hoque, M. E., M. Courgeon, J.-C. Martin, B. Mutlu, and R. W. Picard. “Mach: My Automated Conversation Coach (Inproceedings)”. Proceedings of the 2013 ACM International Joint Conference on Pervasive and Ubiquitous Computing, ACM, 2013, pp. 697-06.

Huang, C.-M., and B. Mutlu. “Modeling and Evaluating Narrative Gestures for Humanlike Robots”. Robotics: Science and Systems, 2013, pp. 57-64.

Szafir, D., and B. Mutlu. “ARTFul: Adaptive Review Technology for Flipped learning”. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, 2013, pp. 1001-10.

Rae, I., L. Takayama, and B. Mutlu. “In-Body Experiences: Embodiment, Control, and Trust in Robot-Mediated communication”. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, 2013, pp. 1921-30.

Broz, F., H. Lehmann, B. Mutlu, and Y. Nakano. “HRI Face-to-Face: Gaze and Speech Communication (fifth Workshop on Eye-Gaze in Intelligent Human-Machine interaction)”. Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction, IEEE Press, 2013, pp. 431-2.

Mutlu, B., A. Terrell, and C.-M. Huang. “Coordination Mechanisms in Human-Robot Collaboration”. HRI 2013 Workshop on Collaborative Manipulation, 2013.

Andrist, S., E. Spannan, and B. Mutlu. “Rhetorical Robots: Making Robots More Effective Speakers Using Linguistic Cues of expertise”. Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction, IEEE Press, 2013, pp. 341-8.

Rae, I., L. Takayama, and B. Mutlu. “The Influence of Height in Robot-Mediated communication”. Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction, IEEE Press, 2013, pp. 1-8.

Pejsa, T., B. Mutlu, and M. Gleicher. “Stylized and Performative Gaze for Character animation”. Computer Graphics Forum, Blackwell Publishing Ltd, 2013, pp. 143-52.

Andrist, S., T. Pejsa, B. Mutlu, and M. Gleicher. “A Head-Eye Coordination Model for Animating Gaze Shifts of Virtual characters”. Proceedings of the 4th Workshop on Eye Gaze in Intelligent Human Machine Interaction, ACM, 2012, p. 4.

De Simone, J., T. Verbruggen, L.-H. Kuo, and B. Mutlu. “Is Cheating a Human Function? The Roles of Presence, State Hostility, and Enjoyment in an Unfair Video game”. Computers in Human Behavior, 2012, pp. 2351-8.

Terrell, A., and B. Mutlu. “A Regression-Based Approach to Modeling Addressee Backchannels”. SigDial, 2012.

Mutlu, B., and D. Szafir. “Pay attention!: Designing Adaptive Agents That Monitor and Improve User engagement”. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, 2012, pp. 11-20.

Broz, F., H. Lehmann, Y. Nakano, and B. Mutlu. “Gaze in HRI: From Modeling to Communication ”. Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2012, pp. 491-2.

Tscheligi, M., A. Meschtscherjakov, A. Weiss, V. Wulf, V. Evers, and B. Mutlu. “Exploring Collaboration in Challenging Environments: From the Car to the Factory and beyond”. Proceedings of the ACM 2012 Conference on Computer Supported Cooperative Work Companion, ACM, 2012, pp. 15-16.

Chidambaram, V., T.-H. Chiang, and B. Mutlu. “Designing Persuasive Robots: How Robots Might Persuade People Using Vocal and Nonverbal cues”. Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2012, pp. 293-00.

Huang, C.-M., and B. Mutlu. “Robot Behavior Toolkit: Generating Effective Social Behaviors for robots”. Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2012, pp. 25-32.

Rae, I., L. Takayama, and B. Mutlu. “One of the Gang: Supporting in-Group Behavior for Embodied Mediated communication”. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, 2012, pp. 3091-00.

Andrist, S., T. Pejsa, B. Mutlu, and M. Gleicher. “Designing Effective Gaze Mechanisms for Virtual agents”. Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, ACM, 2012, pp. 705-14.

Duff, M. C., B. Mutlu, L. Byom, and L. S. Turkstra. “Beyond Utterances: Distributed Cognition As a Framework for Studying Discourse in Adults With Acquired Brain injury”. Seminars in Speech and Language, Thieme Medical Publishers, 2012, pp. 44-54.

Mutlu, B., T. Kanda, J. Forlizzi, J. Hodgins, and H. Ishiguro. “Conversational Gaze Mechanisms for Humanlike robots”. ACM Transactions on Interactive Intelligent Systems, ACM, 2012, p. 12.

, others, S. Andrist, J. Badler, N. Badler, R. McDonnell, M. Neff, C. O’Sullivan, C. Peters, K. Ruhland, Y. Wang, and K. Zibrek. Previous Work (Journal Article). 2011.

Cujipers, R. H., M. T. Bruna, J. R. Ham, and E. Torta. “Attitude towards Robots Depends on Interaction But Not on Anticipatory behaviour”. International Conference on Social Robotics, Springer Berlin Heidelberg, 2011, pp. 163-72.

Bohus, D., E. Horvitz, T. Kanda, B. Mutlu, and A. Raux. “Introduction to the Special Issue on Dialog With robots”. AI Magazine, no. 32, 2011, pp. 15-16.

Mutlu, B. “Designing Embodied Cues for Dialog With robots”. AI Magazine, no. 32, 2011, pp. 17-30.

Mutlu, B., C. Bartneck, J. Ham, V. Evers, and T. Kanda. Social Robotics: Third International Conference on Social Robotics, ICSR 2011, Amsterdam, the Netherlands, November 24-25, 2011. 2011.

Azevedo, R., G. Biswas, D. Bohus, T. Carmichael, M. Finlayson, M. Hadsikadic, C. Havasi, E. Horvitz, T. Kanda, and O. Koyejo. “Reports of the AAAI 2010 Fall Symposia ”. AI Magazine, no. 32, 2011, p. 93.

Khan, F., X. Zhu, and B. Mutlu. How Do Humans Teach: On Curriculum Learning and Teaching Dimension. NIPS, 2011.

Mumm, J., and B. Mutlu. “Designing Motivational Agents: The Role of Praise, Social Comparison, and Embodiment in Computer feedback”. Computers in Human Behavior, 2011, pp. 1643-50.

Mumm, J., and B. Mutlu. “Human-Robot Proxemics: Physical and Psychological Distancing in Human-Robot interaction”. Proceedings of the 6th International Conference on Human-Robot Interaction, ACM, 2011, pp. 331-8.

Bohus, D., E. Horvitz, T. Kanda, B. Mutlu, and A. Raux. “Preface: Dialog With Robots (Inproceedings)”. 2010 AAAI Fall Symposium Series, 2010.

Khan, F., B. Mutlu, and X. Zhu. “Modeling Social Cues: Effective Features for Predicting Listener nods”. Workshop on Modeling Human Communication Dynamics at NIPS, 2010, p. 30.

Mutlu, B., and A. L. Thomaz. “HRI 2010 Late-Breaking Reports chairs’ welcome”. Human-Robot Interaction (HRI), 2010 5th ACM/IEEE International Conference on, 2010, p. 69.

Mutlu, B. Designing Gaze Behavior for Humanlike Robots (PhD Thesis). Carnegie Mellon University, 2009.

Mutlu, B., F. Yamaoka, T. Kanda, H. Ishiguro, and N. Hagita. “Nonverbal Leakage in Robots: Communication of Intentions through Seemingly Unintentional behavior”. Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction, 2009, pp. 69-76.

Mutlu, B., T. Shiwa, T. Kanda, H. Ishiguro, and N. Hagita. “Footing in Human-Robot Conversations: How Robots Might Shape Participant Roles Using Gaze cues”. Proceedings of the 4th ACM/IEEE International Conference on Human Robot Interaction, 2009, pp. 61-68.

Mutlu, B. “The Design of Gaze Behavior for Embodied Social interfaces”. CHI’08 Extended Abstracts on Human Factors in Computing Systems, 2008, pp. 2661-4.

Mutlu, B., and J. Forlizzi. “Robots in Organizations: The Role of Workflow, Social, and Environmental Factors in Human-Robot interaction”. Proceedings of the 3rd ACM/IEEE International Conference on Human Robot Interaction, 2008, pp. 287-94.

Forlizzi, J., C. Guestrin, J. Hodgins, A. Krause, and B. Mutlu. “ Robust, Low-Cost, Non-Intrusive Sensing and Recognition of Seated postures”. Proceedings of the 20th Annual ACM Symposium on User Interface Software and Technology, 2007, pp. 149-58.

Mutlu, B. “An Empirical Framework for Designing Social Products (Inproceedings)”. Proceedings of the 6th Conference on Designing Interactive Systems, 2006, pp. 341-2.

Mutlu, B., J. Forlizzi, I. Nourbakhsh, and J. Hodgins. The Use of Abstraction and Motion in the Design of Social interfaces. 2006.

Mutlu, B., S. Osman, J. Forlizzi, J. Hodgins, and S. Kiesler. “Perceptions of ASIMO: An Exploration on Co-Operation and Competition With Humans and Humanoid robots”. Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction, 2006, pp. 351-2.

Forlizzi, J., J. Hodgins, S. Kiesler, B. Mutlu, and S. Osman. Task Structure and User Attributes As Elements of Human-Robot Interaction design. 2006.

Forlizzi, J., J. Hodgins, and B. Mutlu. “A Storytelling Robot: Modeling and Evaluation of Human-Like Gaze behavior”. Humanoid Robots, 2006.

Forlizzi, J., C. DiSalvo, J. Zimmerman, B. Mutlu, and A. Hurst. “The SenseChair: The Lounge Chair As an Intelligent Assistive Device for elders”. Original LanguageEnglish (US) Title of Host PublicationProceedings of the 2005 Conference on Designing for User EXperience, DUX 2005, Association for Computing Machinery, 2005.

Keyani, P., G. Hsieh, B. Mutlu, M. Easterday, and J. Forlizzi. “DanceAlong: Supporting Positive Social Exchange and Exercise for the Elderly through dance”. CHI’05 Extended Abstracts on Human Factors in Computing Systems, CHI EA’05, 2005, pp. 1541-4.

Mutlu, B., and J. Forlizzi. The Chaotic Nature of Human Experience: An Alternative Approach to Determinacy in Understanding Emotions and Experience. Design & Emotion, 2004.

, C. DiSalvo, J. Forlizzi, and B. Mutlu. A Study of How Products Contribute to the Emotional Aspects of Human Experience (Inproceedings). Design & Emotion, 2004.

Mutlu, B., and J. Forlizzi. The Chaotic Nature of Human Experience: Insights on the Subject Matter of Design towards Establishing a Science of Design (Journal Article). School of Design, Carnegie Mellon University, 2004.

Andrist, S., E. Spannan, and B. Mutlu. Modeling and Evaluation of Expert Language for Humanlike Robots.

Mutlu, B. New User-Centered Methods for Design Innovation: A Study on the Role of Emerging Methods in Innovative Product Design and Development.

Mutlu, B. Design Innovation: Historical and Theoretical Perspectives on Product Innovation by Design (Inproceedings). 5th European Academy of Design Conference, 2003.

Rakita, D., B. Mutlu, and M. Gleicher. “An Analysis of RelaxedIK: An Optimization-Based Framework for Generating Accurate and Feasible Robot Arm motions”. Autonomous Robots, Vol. 44, no. 7, Springer US, pp. 1341-58.