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

Synthesis: Glawe, Schmeckel, Brauner, and Ziefle (2025) systematically review empirical studies on human autonomy and sense of agency in human-robot interaction (HRI), aiming to bridge the gap between design frameworks and regulatory demands (e.g., the EU AI Act, IEEE Ethically Aligned Design) on one hand and available empirical evidence on the other. Using the PRISMA workflow, they queried five databases and identified 22 empirical studies published between 2011 and early 2024. Across both concepts, separate methodological strands emerged: self-determination-theory-based measures of autonomy via psychometric scales, and neuroscientific measures of agency (primarily intentional binding).

Key Findings

Human autonomy and sense of agency are core human values foundational to well-being, intertwined in definition and central to current ethical and governance discourses on AI and cyber-physical systems (EU AI Act, IEEE Ethically Aligned Design).

A PRISMA-guided systematic review of five databases identified 22 empirical studies published 2011–early 2024 on autonomy and sense of agency in HRI.

Two distinct methodological strands emerged: self-determination-theory-based psychometric measures of autonomy, and neuroscientific measures of agency (primarily intentional binding).

The review bridges design frameworks and regulatory demands with empirical evidence, highlighting gaps and directions for HRI design and governance.

Study Design & Method

This is a systematic literature review following the PRISMA workflow. The authors queried five databases and screened the literature to identify 22 empirical studies published between 2011 and early 2024 examining human autonomy and sense of agency in human-robot interaction. They analyzed the conceptualization and measurement of autonomy and agency across the studies, identifying distinct methodological strands (psychometric/SDT-based measures of autonomy; neuroscientific/intentional-binding measures of agency) and synthesizing implications for design frameworks and regulatory compliance.

Implications for AI in Education

The review provides a foundational evidence base for understanding how Human Robot Interaction and Social Robots affect Agency and autonomy in learning contexts. As robots are increasingly used in education, preserving learners' sense of agency is a core ethical and design concern, connecting to Ethics, Well Being, and the governance of AI in education. The review's synthesis of measurement approaches (SDT-based autonomy scales, intentional-binding measures of agency) offers researchers tools for evaluating how educational robots support or undermine learner agency, and informs responsible design of embodied AI in classrooms.

Limitations

The review is limited to 22 studies, reflecting a relatively young and methodologically fragmented literature; the two concepts (autonomy and agency) are measured with very different instruments, making cross-study synthesis challenging. The temporal scope (2011–early 2024) predates the widespread use of LLM-powered social robots, so recent developments may be underrepresented. The review focuses on HRI broadly rather than education specifically.

Connected Concepts

Human Robot Interaction

Self Determination Theory

Connected Articles

White Wu Robotics AI Education 2026 — Robotics and AI in Education

Task Context Trust Educational Hri 2026 — Task Context Shapes Trust in Educational HRI

Knowledge Based Design Generative Social Robots 2026 — Knowledge-Based Design for Generative Social Robots

Citation

Glawe, F., Schmeckel, T., Brauner, P., & Ziefle, M. (2025). Human autonomy and sense of agency in human-robot interaction: A systematic literature review. arXiv:2509.22271.