TABLE 6.

The interaction patterns identified from the behavioral data, including a description of what they entail.

Category	Concept	Description
Stable situation	Human following	Human lets the robot do its task
	Human actively on top of things, actively supervising	Human is constantly in touch with the robot
	Active observation by human	Human is actively observing what the robot is doing
	Human leading	Human leads the robot
	Human executing the robot’s task	Human executes the task of the robot
	Proactive following by human	Human actively predicts and observes what the robot will do, following their course of action
	Human dragging the robot along while doing all the work, the robot is a burden	Human ignores the robot as much as possible while focusing on completing the task
	Human focuses on their own task, but leaving time for the robot to catch up	Human executes their own task while leaving space for the robot to follow them in that course of action
Sudden adaptation	Unexpected action by a robot team member	The robot does something the human did not expect, possibly triggering a leadership shift
	Human waiting for the robot to finish their task	The human waits for the robot to finish their task, and decides on a leadership role after that
	Human trying to finish the robot’s task when the robot is done	When the robot has finished their task, the human takes over the task to see if it can be improved upon
	Partner-interfering mistake	The robot makes a mistake that directly and strongly interferes with the human’s course of action
	Human losing contact with the robot due to focus on own task	The human focuses very much on their own task, therefore lose contact with the robot
	Being close to finishing the task	The team is very close to finishing the task, which possibly triggers a leadership shift
	Human actively making up for the robot’s limitations	The human foresees a limitation of the robot will hinder their performance, therefore undertakes action to avoid that
	Task achievement	A task achievement is reached, possibly triggering a leadership shift
	Human urging the robot to be more active, ‘come on’	The robot is relatively passive, causing the human to actively urge the robot to be more active
	Human stops with what they’re doing, waits	The human suddenly stops with what they are doing to wait, after which a new leadership role is chosen
	Repeating previous behavior patterns	The human recognizes a situation similar to an earlier situation, and repeats the behavior previously executed
	Human recognizing the autonomy of the robot	The human recognizes the autonomous capabilities of the robot, possibly triggering a leadership shift
	Quick response to leadership shifts due to continuous connection	Due to continuous contact between the team members, a leadership shift initiated by one team member is quickly and smoothly followed by the other
	Robot becomes active after being inactive	After a period of waiting of being inactive, the robot suddenly becomes active again, possibly triggering a leadership shift
Gradual adaptation	Human gradually letting the robot do more	The human gradually lets the robot do more over time
	Human learning to predict the robot’s behavior	Over time, the human gradually gains insight into the robot’s behavior, thereby enabling them to better predict their behavior
	Human trying to regain control in different ways until eventually taking the lead	Over time, the human attempts to take the lead and regain control in different ways, to eventually find a way to keep taking the lead
Active negotiation	Human executing leading in short intervals	The human takes the lead several times in short intervals, observing what the robot does in the following intervals, to actively search for and negotiate a new stable situation