As part of our research in human-robot collaborative fluency, we are developing a number of metrics to evaluate the quality and fluency in human-robot and human-agent shared-location teamwork. We propose both subjective and objective metrics to measure fluency between a human and robot. To validate these metrics, we conduct human-subject study linking objective and subjective metrics of fluency. We are particularly interest in an actor-observer bias with respect to human-robot interaction quality.
The first outcomes of this research are currently under review. A preliminary description of this work was presented at the RSS-13 Workshop on Human-Robot Collaboration. Some earlier references to human-robot fluency appear in Hoffman & Breazeal 2007 and Hoffman & Breazeal, 2008.