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Communicating the robot state is vital to creating an efficient and trustworthy collaboration between humans and collaborative robots (cobots). Standard approaches for Robot-tohuman communication face difficulties in industry settings, e.g., because of high noise levels or certain visibility requirements. Therefore, this letter presents zoomorphic gestures based on dog body language as a possible alternative for communicating the state of appearance-constrained cobots. For this purpose, we conduct a visual communication benchmark comparing zoomorphic gestures, abstract gestures, and light displays. We investigate the modalities regarding intuitive understanding, user experience, and user preference. In a first user study (n = 93), we evaluate our proposed design guidelines for all visual modalities. A second user study (n = 214) constituting the benchmark indicates that intuitive understanding and user …