用会反射的机器人眼睛，让人类一眼看懂机器在关注什么。
Mirror Eyes: Explainable Human-Robot Interaction at a Glance
- 机器人眼是可动屏幕，能对准空间位置并反射注视区域图像。
- 33人实验显示，带镜面反射时错误动作检测提前17%，体验评分提升28%。
- 适合需要快速理解机器人意图的协作场景，如工厂装配或居家助老。
人的视线常反映其关注点。本文将这一现象付诸实践，设计一种带有屏幕眼的可动机器人头部，能够朝向物理空间中的目标点，并在每只眼睛上呈现所注视区域的镜像画面。我们对33名参与者进行了用户研究，要求他们指导机器人完成拾取放置任务，监控执行过程，并在出现错误时中断。尽管未提供关于眼睛功能的说明且系统接触时间极短，启用眼区镜像反射后，参与者对机器人信息处理状态的感知更清晰，错误行为识别时间平均提前17%，用户满意度评分提升28%。结果表明，该方法在人机协作中具有直观且有益的潜力。
原文摘要 · Abstract (English)
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye model that can direct the robot's gaze to points in physical space and present a reflection-like mirror image of the attended region on top of each eye. We conducted a user study with 33 participants, who were asked to instruct the robot to perform pick-and-place tasks, monitor the robot's task execution, and interrupt it in case of erroneous actions. Despite a deliberate lack of instructions about the role of the eyes and a very brief system exposure, participants felt more aware about the robot's information processing, detected erroneous actions earlier, and rated the user experience higher when eye-based mirroring was enabled compared to non-reflective eyes. These results suggest a beneficial and intuitive utilization of the introduced method in cooperative human-robot interaction.
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