We performed an exploratory study on new joystick-based directing interfaces for a collocated robot. We present a new framing for joystick control, based on either a human-centric, robot-centric, or human-robot-centric control mapping, and further explore the user experience impacts of having a physical cable between the user and the robot. We performed a formal qualitative study and discovered that the existence of the cable can influence user perception of animacy and safety.
