研究机器人自动化程度如何影响人的体验，发现中等自动化最佳。
Beyond Task Performance: Human Experience in Human-Robot Collaboration
- 在模拟木工车间测试四种自动化水平对人机协作体验的影响。
- 中等自动化提升专注感、自主感和身体融入感，优于高自动化。
- 握力可实时反映自主感，心率变异性关联不明确，适合人机设计参考。
人类交互体验在人机协作中至关重要，尤其当未来系统趋向物理与功能深度融合时。尽管自动化设计影响任务表现，但其对心理体验指标如心流、自主感（SoA）和身体融入感的影响仍不明确。本研究通过模拟木工车间实验，让参与者在四种自动化水平下与轻型机器人协作，考察心理体验与生理指标的关联。结果表明，中等自动化水平能显著提升心流、自主感和身体融入感，实现支持与自主性的平衡；而更高自动化虽优化任务表现，却降低主观心流与自主感。此外，握力可能作为自主感的实时代理指标，心率变异性则未呈现明确相关性。研究强调需将以人为本的体验指标纳入自动化策略设计，以同时优化性能与用户体验。
原文摘要 · Abstract (English)
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has been shown to impact task performance, its influence on human experience metrics such as flow, sense of agency (SoA), and embodiment remains underexplored. This study investigates how variations in automation design affect these psychological experience measures and examines correlations between subjective experience and physiological indicators. A user study was conducted in a simulated wood workshop, where participants collaborated with a lightweight robot under four automation levels. The results of the study indicate that medium automation levels enhance flow, SoA and embodiment, striking a balance between support and user autonomy. In contrast, higher automation, despite optimizing task performance, diminishes perceived flow and agency. Furthermore, we observed that grip force might be considered as a real-time proxy of SoA, while correlations with heart rate variability were inconclusive. The findings underscore the necessity for automation strategies that integrate human- centric metrics, aiming to optimize both performance and user experience in collaborative robotic systems
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