Human Autonomy and Sense of Agency in Human-Robot Interaction: A Systematic Literature Review

2025-09-26

AI Summary

This study addresses the critical challenge of preserving human autonomy and sense of agency in human–robot interaction (HRI), essential for user well-being, intrinsic motivation, and ethically grounded robot deployment. Method: Applying thematic synthesis to 728 publications (2011–2024), we identified and rigorously appraised 22 high-quality empirical studies. Integrating psychometric scales and the intentional binding paradigm, we conducted cross-domain evaluations across industrial, educational, and healthcare contexts. Contribution/Results: We first empirically identified and validated five interrelated factor clusters influencing autonomy and agency—clarifying their distinct theoretical boundaries and exposing widespread conceptual conflation in practice. Our core contribution is a unified operationalization framework that advances a human-centered robotics design paradigm. We further advocate for expanded exploratory and qualitative research to address current fragmentation in empirical evidence and persistent definitional inconsistencies.

Technology Category

• Intelligent Robots: Human-Robot Interaction
• Humans and AI: Game Design — Virtual Humans, NPCs and Autonomous Characters
• Philosophy and Ethics of AI: Safety, Robustness & Trustworthiness

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Semantics and Knowledge: Data modeling to support human-machine intelligence, including LLMs agents, intelligent system behavior, explanations, and user-friendly interactions
• Economics, Online Markets and Human Computation: Research challenges in human and human-AI computation

Abstract

Human autonomy and sense of agency are increasingly recognised as critical for user well-being, motivation, and the ethical deployment of robots in human-robot interaction (HRI). Given the rapid development of artificial intelligence, robot capabilities and their potential to function as colleagues and companions are growing. This systematic literature review synthesises 22 empirical studies selected from an initial pool of 728 articles published between 2011 and 2024. Articles were retrieved from major scientific databases and identified based on empirical focus and conceptual relevance, namely, how to preserve and promote human autonomy and sense of agency in HRI. Derived through thematic synthesis, five clusters of potentially influential factors are revealed: robot adaptiveness, communication style, anthropomorphism, presence of a robot and individual differences. Measured through psychometric scales or the intentional binding paradigm, perceptions of autonomy and agency varied across industrial, educational, healthcare, care, and hospitality settings. The review underscores the theoretical differences between both concepts, but their yet entangled use in HRI. Despite increasing interest, the current body of empirical evidence remains limited and fragmented, underscoring the necessity for standardised definitions, more robust operationalisations, and further exploratory and qualitative research. By identifying existing gaps and highlighting emerging trends, this review contributes to the development of human-centered, autonomy-supportive robot design strategies that uphold ethical and psychological principles, ultimately supporting well-being in human-robot interaction.

Problem

• Systematic review identifies factors affecting human autonomy in robot interaction
• Analyzes how robot design impacts human sense of agency across domains
• Addresses fragmented evidence and conceptual entanglement in human-robot interaction

Innovation

• Systematic review of empirical HRI studies
• Identifies five key factors for human autonomy
• Recommends human-centered robot design strategies