  Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI)
has been gaining considerable attention in research in recent years. However,
the HRI community lacks a set of shared terminology and framework for
characterizing aspects of mixed reality interfaces, presenting serious problems
for future research. Therefore, it is important to have a common set of terms
and concepts that can be used to precisely describe and organize the diverse
array of work being done within the field. In this paper, we present a novel
taxonomic framework for different types of VAM-HRI interfaces, composed of four
main categories of virtual design elements (VDEs). We present and justify our
taxonomy and explain how its elements have been developed over the last 30
years as well as the current directions VAM-HRI is headed in the coming decade.
