用人类动作习惯设计有表现力的机械臂运动，提升机器人亲和力。
Unconscious and Intentional Human Motion Cues for Expressive Robot-Arm Motion Design
- 分析玩家无意识与有意识的动作模式，提取表达性运动线索。
- 撤回阶段的动作时序对观感影响显著，物理实体比视频更易理解。
- 适合人机交互、机器人情感表达领域研究者参考。
本研究探讨如何利用人类动作线索设计富有表现力的机器人手臂运动。通过不完整信息博弈游戏Geister，分析了两种人类棋子移动行为：自然游戏行为（无意识倾向）和受指令表达的动作（有意图线索）。基于这些发现，通过调整运动速度和停顿时长，设计出分阶段的机器人动作，并在物理机器人和录制视频两种呈现方式下评估观察者印象。结果表明，撤回阶段的运动时序在印象形成中起关键作用，且物理具身化能增强动作线索的可理解性。研究为基于人类动作时间特征设计富有表现力的机器人运动提供了新思路。
原文摘要 · Abstract (English)
This study investigates how human motion cues can be used to design expressive robot-arm movements. Using the imperfect-information game Geister, we analyzed two types of human piece-moving motions: natural gameplay (unconscious tendencies) and instructed expressions (intentional cues). Based on these findings, we created phase-specific robot motions by varying movement speed and stop duration, and evaluated observer impressions under two presentation modalities: a physical robot and a recorded video. Results indicate that late-phase motion timing, particularly during withdrawal, plays an important role in impression formation and that physical embodiment enhances the interpretability of motion cues. These findings provide insights for designing expressive robot motions based on human timing behavior.
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