让机器人用人类能懂的肢体动作表达意图，提升人机协作自然度。
An Approach to Elicit Human-Understandable Robot Expressions to Support Human-Robot Interaction
- 通过人类模仿实验收集可理解的机器人动作表达
- 在16人和260人研究中验证了好奇与吸引注意力的动作设计
- 适用于非人形机器人的自然交互，适合人机交互研究者
理解机器人的意图是实现自然流畅人机协作的关键。确保机器人具备非语言沟通能力，是实现直观隐性交互的基础。为此，本文提出一种生成与设计人类可理解机器人表达的方法，聚焦于非人形机器人。通过两阶段实验：第一阶段结合人类模仿与行为演绎，采集表达；第二阶段验证其可理解性。以一个6自由度机械臂为例，通过两次研究（样本量分别为16和260）验证该方法，成功设计出能传达好奇与吸引注意意图的机器人动作。主要贡献在于提供了一种可生成并验证可理解机器人表达的系统性方法，推动更自然的人机交互发展。
原文摘要 · Abstract (English)
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute an approach to elicit and design human-understandable robot expressions. We outline the approach in the context of non-humanoid robots. We paired human mimicking and enactment with research from gesture elicitation in two phases: first, to elicit expressions, and second, to ensure they are understandable. We present an example application through two studies (N=16 \& N=260) of our approach to elicit expressions for a simple 6-DoF robotic arm. We show that it enabled us to design robot expressions that signal curiosity and interest in getting attention. Our main contribution is an approach to generate and validate understandable expressions for robots, enabling more natural human-robot interaction.
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