机器人用表情表达成功与道歉，能动态影响人类信任并部分修复受损信任。
Impact of Robot Facial-Audio Expressions on Human Robot Trust Dynamics and Trust Repair
- 通过成功后高兴表情、失败后道歉表情，观察信任随时间变化
- 失败后信任下降，道歉可恢复44%（搬运任务）和38%（信息获取）
- 年轻人信任波动大但短暂，中青年修复最持久，适合工地机器人个性化交互
尽管机器人与人类在建筑、工程、施工（AEC）行业协作已有进展，信任仍常被视为静态因素，缺乏对协作过程中信任动态变化的指导。本文研究机器人任务表现及其事后情感表达如何影响人类信任的演变。设计了两组基于建筑场景的任务（物料搬运与信息获取），采用重复测量（每任务4次）的信任感知量表（14项）与重新委派选择，考察信任变化。机器人使用双模态表达：成功后显示“高兴”表情并简短确认；失败后呈现“悲伤”表情并道歉，请求第二次机会。实验在实验室环境下进行，共30名参与者，使用四足机器人平台。结果表明，机器人成功显著提升信任，失败导致信任急剧下降，道歉类表达可部分恢复信任（物料搬运任务恢复44%，信息获取任务恢复38%）。项目级分析显示，恢复主要源于互动与沟通因素，能力维度部分恢复，自主性方面变化最小。此外，年龄组与先前态度调节信任动态：年轻参与者表现出更大但更短暂的变化，20多岁人群修复最持久，年长者反应最保守。本研究为未来根据任务需求与用户特征适配修复策略提供了基础，以支持工地机器人安全高效应用。
原文摘要 · Abstract (English)
Despite recent advances in robotics and human-robot collaboration in the AEC industry, trust has mostly been treated as a static factor, with little guidance on how it changes across events during collaboration. This paper investigates how a robot's task performance and its expressive responses after outcomes shape the dynamics of human trust over time. To this end, we designed a controlled within-subjects study with two construction-inspired tasks, Material Delivery (physical assistance) and Information Gathering (perceptual assistance), and measured trust repeatedly (four times per task) using the 14-item Trust Perception Scale for HRI plus a redelegation choice. The robot produced two multimodal expressions, a "glad" display with a brief confirmation after success, and a "sad" display with an apology and a request for a second chance after failure. The study was conducted in a lab environment with 30 participants and a quadruped platform, and we evaluated trust dynamics and repair across both tasks. Results show that robot success reliably increases trust, failure causes sharp drops, and apology-based expressions partially restores trust (44% recovery in Material Delivery; 38% in Information Gathering). Item-level analysis indicates that recovered trust was driven mostly by interaction and communication factors, with competence recovering partially and autonomy aspects changing least. Additionally, age group and prior attitudes moderated trust dynamics with younger participants showed larger but shorter-lived changes, mid-20s participants exhibited the most durable repair, and older participants showed most conservative dynamics. This work provides a foundation for future efforts that adapt repair strategies to task demands and user profiles to support safe, productive adoption of robots on construction sites.
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