研究助手机器人中用户控制感与任务表现的权衡，发现自动程度越高，效率越强但掌控感越弱。
The Sense of Agency in Assistive Robotics Using Shared Autonomy
- 采用共治自主机制，融合用户与机器控制信号
- 机器人自动化程度越高，任务完成越好但用户控制感下降
- 提出可实时监测控制感的代理指标，适合人机交互研究者
控制感是影响用户对机器人辅助偏好认知科学概念，代表个体对环境的掌控体验。然而现有助手机器人研究多聚焦于任务成功率和认知负荷等指标，而非控制感。已有研究表明，尽管直接遥控在任务指标上表现不佳，但用户更偏好它带来的高控制感。本文聚焦于操作类助手机器人的共治自主范式，通过实验评估控制感发现：机器人自主度越高，任务表现越好，但用户控制感越低，揭示了任务表现与控制感之间的潜在权衡。基于此，本文探讨控制感与最优性的关系，并提出一种可作为控制感组成部分的代理指标，或可实现系统对控制感的实时监测与维持。
原文摘要 · Abstract (English)
Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's environment. However, in assistive robotics literature, we often see paradigms that optimize measures like task success and cognitive load, rather than sense of agency. In fact, prior work has found that participants sometimes express a preference for paradigms, such as direct teleoperation, which do not perform well with those other metrics but give more control to the user. In this work, we focus on a subset of assistance paradigms for manipulation called shared autonomy in which the system combines control signals from the user and the automated control. We run a study to evaluate sense of agency and show that higher robot autonomy during assistance leads to improved task performance but a decreased sense of agency, indicating a potential trade-off between task performance and sense of agency. From our findings, we discuss the relation between sense of agency and optimality, and we consider a proxy metric for a component of sense of agency which might enable us to build systems that monitor and maintain sense of agency in real time.
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