  Frameworks have begun to emerge to categorize Virtual, Augmented, and Mixed
Reality (VAM) technologies that provide immersive, intuitive interfaces to
facilitate Human-Robot Interaction. These frameworks, however, fail to capture
key characteristics of the growing subfield of VAM-HRI and can be difficult to
consistently apply due to continuous scales. This work builds upon these prior
frameworks through the creation of a Tool for Organizing Key Characteristics of
VAM-HRI Systems (TOKCS). TOKCS discretizes the continuous scales used within
prior works for more consistent classification and adds additional
characteristics related to a robot's internal model, anchor locations,
manipulability, and the system's software and hardware. To showcase the tool's
capability, TOKCS is applied to the ten papers from the fourth VAM-HRI workshop
and examined for key trends and takeaways. These trends highlight the
expressive capability of TOKCS while also helping frame newer trends and future
work recommendations for VAM-HRI research.
