TABLE 2.

The description of roles for participant and robot.

	Role	Description
Participant	peer	interacts with a robot to achieve a shared goal
	coperator	works with a robot to fulfil a shared goal and does not directly depend on a robot
	collaborator	works as a teammate together for joint task completion
	learner	learns something from a robot
	imitator	imitates a robot’s gestures or action
	interviewee	answers to the questions from a robot
	mentor	takes on a leadership or teaching role
	supervisor	monitors a robot and gives instructions on how to perform the task
	operator	is aware of where and what a robot is doing
	mechanic	works with robotic software or hardware and controls the physical setting
	information consumer	does not necessarily interact with a robot, but uses information that comes from it
	bystander	does not interact with a robot but shares the same space
Robot	peer	acts as a friend to achieve a common interaction goal
	learner	acquires new skills or behaviors from humans
	tutor	supports learning by being in a teaching position
	mediator	enables an interaction between two or more people, so that they can engage through a robot
	assistant	performs actions alongside humans (e.g. a teaching assistant)
	interviewer	asks questions
	demonstrator	shows model behaviors or actions
	testbed platform	validates or tests theories and algorithms in an experiment