Toward Spatial and Cognitive Human-Robot Interaction (2025-06)¶

Robotic systems are increasingly present on construction sites, introducing new challenges related to safety, spatial coordination, cognitive workload, and worker stress. This paper takes initial steps toward understanding both the spatial and cognitive dimensions of human proximity behavior within humanrobot interaction (HRI), particularly focusing on how concrete 3D printing robots affect work execution, mental load, and worker comfort. An interactive simulation game was developed to model realistic scenarios of a worker navigating around a concrete 3D printer. Four key scenarios were designed to reflect common on-site challenges: (1) selecting work locations near or far from the robot, (2) navigating obstructed paths, (3) working near social distractions, and (4) responding to erratic robot behavior. The game is designed to collect data on task execution time, proximity to the robot, as well as subjective cognitive load indicators using integrated questionnaires. This controlled, repeatable environment offers a safe way to study human-robot proxemics and cognition in goal-oriented construction settings. By identifying patterns of high-risk interaction and elevated mental effort, this study lays the groundwork for developing responsive, human-aware robotic systems that improve safety, comfort, and productivity in shared construction workspaces.