# Telepresence Social Robotics towards Co-Presence: A Review
## 4 Conclusions  
This work presented a survey of recent works, proposing the development of support for social robotic interactions with applications in health care, elderly assistance, guidance, or office meetings. It focused on enhancing social presence via telepresence robot mediation, in which a user should sense his or her remote interlocutor as being locally present with him or her. The research gathered knowledge to help roboticists design improved user- and environment-adaptive systems and technical methods that contribute to enhancing the sense of presence or co-presence. This literature review aimed to define social presence, identify autonomous \"user-adaptive systems\" for social robots, and propose a taxonomy for \"co-presence\" mechanisms. The referred works address robot sensing, perception, action, reasoning, appearance, automation, and cognitive approaches (e.g., statistics models and AI). Additionally, it presents an overview of social robotics systems and application areas and provides directions for telepresence and co-presence robot design, considering the actual and future challenges. Finally, some guidelines for the evaluation of these systems are left, having as reference face-to-face interactions. Based on survey findings in engineering and psychology, our future work includes the design of telepresence and co-presence robots that better emulate or interpret human subjective experiences.  
\begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Psychological** & **Questionnaire** & **Number of Questions** & **Ref.** \\ \hline Presence & Slater, Usoh and Steed (SUS) & 6 & [237] \\ Presence & Temple Presence Inventory (TPI) & 42 & [238] \\ Presence & Igroup Presence Questionnaire (IPQ) & 14 & [239] \\ Presence & Sense of Presence Inventory (ITC-SOPI) & 38 & [240] \\ Presence & Presence Questionnaire, version 3 (PQ) & 29 & [241] \\ Presence & Networked Minds Social Presence & 34 & [41, 242] \\  & Inventory (NMSPI) & 15 & [243] \\ Presence & Spatial Presence Experience Scale (SPES) & 8 & [244] \\ Flow & EduFlow Scale (EFS) & 12 & [245] \\ Flow & Flow Short Scale (FSS) & 13 & [246] \\ Flow & Reading Flow Short Scale & 8 & [247] \\ Game and Flow & EGameFlow (EGF) & 42 & [248] \\ Usability & Nielsen Norman Group & - & [249, 250] \\ \hline \hline \end{tabular}
\end{table}
Table 11: List of questionnaires to assess presence, flow, and game.  
**Author Contributions:** Conceptualization, L.A., P.M. and J.D.; methodology, L.A., P.M. and J.D.; validation, L.A. and P.M.; data curation, L.A.; writing--original draft preparation, L.A., P.M. and J.D.; writing--review and editing, L.A., P.M. and J.D.; supervision, P.M. and J.D.; project administration, P.M. and J.D.; funding acquisition, P.M. and J.D. All authors have read and agreed to the published version of the manuscript.  
**Funding:** This work was partially developed in the framework of the project \"ACTIVAS - Supporting Habitat for an Active, Safe and Healthy Life\" (POCI-01-0247-FEDER-046101) which is supported by European Regional Development Fund (ERDF), through the Incentive System to Research and Technological development, within the Portugal2020 Competitiveness and Internationalization Operational Program.  
**Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** Not applicable.  
**Acknowledgments:** The authors acknowledge the support of the University of Coimbra, Institute of Systems and Robotics in Coimbra, Portugal, and the Polytechnic Institute of Tomar, Portugal.  
**Conflicts of Interest:** The authors declare no conflict of interest.