通过调节机器人的注意力与兴奋度，提升人机互动的自然感与信任度。
The Social Life of Industrial Arms: How Arousal and Attention Shape Human-Robot Interaction
- 用注视模拟注意力+能量化运动，生成有社交意义的行为
- 高注意力提升亲和力与可信度，高兴奋度引发不适感
- 适度兴奋度配合专注注意力，最能增强信任与社交性
本研究探讨非类人机器人行为的两个关键维度——兴奋度（由运动能量与表现力定义）和注意力（指机器人主动聚焦并互动的能力）如何影响人类感知。我们提出一种新型控制架构，将类目光注意力引擎与可调兴奋度运动系统结合，生成具有社会意义的行为。用户研究表明，表现出高注意力的机器人被感知为更温暖、更胜任、更具意图性和生命感；而高兴奋度（表现为快速、广域、充满能量的动作）则加剧不适与干扰感。重要的是，专注注意力与适度兴奋度的结合带来最高的信任与社交评分，而过度兴奋度会削弱社交参与。这些发现为赋予非人形机器人表达性、直观行为提供了设计启示。
原文摘要 · Abstract (English)
This study explores how human perceptions of a non-anthropomorphic robotic manipulator are shaped by two key dimensions of behaviour: arousal, defined as the robot's movement energy and expressiveness, and attention, defined as the robot's capacity to selectively orient toward and engage with a user. We introduce a novel control architecture that integrates a gaze-like attention engine with an arousal-modulated motion system to generate socially meaningful behaviours. In a user study, we find that robots exhibiting high attention -- actively directing their focus toward users -- are perceived as warmer and more competent, intentional, and lifelike. In contrast, high arousal -- characterized by fast, expansive, and energetic motions -- increases perceptions of discomfort and disturbance. Importantly, a combination of focused attention and moderate arousal yields the highest ratings of trust and sociability, while excessive arousal diminishes social engagement. These findings offer design insights for endowing non-humanoid robots with expressive, intuitive behaviours that support more natural human-robot interaction.
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