In this paper, we present a model to propose an optimal placement for a robot in a social group interaction. Our model estimates the O-space according to the F-formation theory. The method automatically calculates a suitable placement of the robot within a group of people. An evaluation of the method has been performed by conducting an experiment where participants stand in different formations and a robot is teleoperated to join the group. In one set of experiments, the operator positions the robot according to the specified location given by our algorithm. In another set of experiments, operators have the freedom to position the robot according to their personal choice. Follow-up questionnaires were performed to determine which of the placements were preferred by the participants. Our results indicate that the proposed method for automatic placement of the robot is supported from the view of the participants. The contribution of this work resides in a novel method to automatically estimate the best placement of the robot, as well as the results from user experiments to verify the quality of this method. These results suggest that teleoperated robots e.g. mobile robot telepresence systems could benefit from tools that assist operators in placing the robot in groups in a socially accepted manner.

Abstract. Today, simple analogue assistive technologies are transformed into complex and sophisticated sensor networks. This raises many new privacy issues that need to be considered. In this paper, we investigate how this new generation of assistive technology incorporates Privacy by Design (PbD) principles. The research is conducted as a case study where we use PbD principles as an analytical lens to investigate the design of the new generation of digitalized assistive technology as well as the users' privacy preferences that arise in use of this technology in real homes. Based on the findings from the case study, we present guidelines for building in privacy in new generations of assistive technologies and in this way protect the privacy of the people using these technologies.