What Communication Modalities Do Users Prefer in Real Time HRI?
  This paper investigates users' preferred interaction modalities when playing an imitation game with KASPAR, a small child-sized humanoid robot. The study involved 16 adult participants teaching the robot to mime a nursery rhyme via one of three interaction modalities in a real-time Human-Robot Interaction (HRI) experiment: voice, guiding touch and visual demonstration. The findings suggest that the users appeared to have no preference in terms of human effort for completing the task. However, there was a significant difference in human enjoyment preferences of input modality and a marginal difference in the robot's perceived ability to imitate. 
Ori Novanda, Maha Salem, Joe Saunders, Michael L. Walters, and Kerstin   Dautenhahn
cs.RO cs.HC