The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces

Abstract--As robots become increasingly integrated into everyday environments, understanding how they communicate with humans is critical. Sound offers a powerful channel for interaction, encompassing both operational noises and intentionally designed auditory cues. In this study, we examined the effects of consequential and functional sounds on human perception and behavior, including a novel exploration of spatial sound through localization and handover tasks. Results show that consequential sounds of the Kinova Gen3 manipulator did not negatively affect perceptions, spatial localization is highly accurate for lateral cues but declines for frontal cues, and spatial sounds can simultaneously convey task-relevant information while promoting warmth and reducing discomfort. These findings highlight the potential of functional and transformative auditory design to enhance human-robot collaboration and inform future sound-based interaction strategies. UDIO Augmented Reality remains a comparatively un-derexplored domain within the broader field of Augmented Reality (AR) research [1]. While recent advancements in AR technologies have spurred extensive investigation into visual augmentation--where virtual objects are seamlessly integrated into the physical environment--research on auditory augmentation has lagged behind.