Ghimire, Amit Hou, Anova Kim, Ig-Jae Yoon, Dongwook 2025-12-30T08:00:12Z 2025-12-30T08:00:12Z 2025-11-26 2025-04 https://pubs.kist.re.kr/handle/201004/153930 Robot-mediated telepresence promises to facilitate effective social interaction between remote teleoperators and on-site users. However, disparities between the robot's form and the teleoperator's representation cause perceptual conflict in on-site users, degrading interaction quality. We introduce AvatARoid, a novel design that bridges this embodiment gap by superimposing the teleoperator's motion-mapped AR avatar overlay on a humanoid. We evaluated our design in a mixed-method study (n=48) using an immersive simulation where participants interacted with a confederate teleoperator, presented in either (a) a humanoid robot, (b) a humanoid robot with video, or (c) AvatARoid. Results suggest AvatARoid significantly improved teleoperator embodiment for on-site users, particularly enhancing co-location, and control perceptions, and providing richer non-verbal gestures. In contrast, video and baseline conditions often resulted in a pronounced disconnect between the teleoperator and the robot for on-site users. Our study offers new insights into designing novel teleoperator representations to promote social interaction in robot-mediated telepresence. English ASSOC COMPUTING MACHINERY AvatARoid: A Motion-Mapped AR Overlay to Bridge the Embodiment Gap Between Robots and Teleoperators in Robot-Mediated Telepresence Conference 10.1145/3706598.3713812 1 2025 Conference on Human Factors in Computing Systems-CHI 2025 Conference on Human Factors in Computing Systems-CHI JA Yokohama, JAPAN 2025-04-26 PROCEEDINGS OF THE 2025 CHI CONFERENCE ON HUMAN FACTORS IN COMPUTING SYTEMS, CHI 2025 001501406100309 2-s2.0-105005769675