提出五要素框架与实体积木，助设计师系统探索机器人形态
Elements of Robot Morphology: Supporting Designers in Robot Form Exploration
- 提炼感知、运动、结构等五个机器人形态核心要素
- 开发实体积木工具，支持协作式形态实验与设计
- 适合人机交互、产品设计团队用于创意发散与原型探索
机器人形态（form, shape, structure）是人机交互中的关键设计维度，影响机器人的功能、表达与互动方式。然而，现有研究缺乏系统性设计框架来指导形态探索。本文提出「机器人形态要素」框架，基于对现有机器人的分析，归纳出感知、关节、末端执行器、运动方式和结构五个基本元素。为实现该框架，我们设计了形态探索积木（Morphology Exploration Blocks, MEB），一套可触控、可组合的实体模块，支持设计师进行协作式形态实验。通过案例研究与设计工作坊评估，验证了该框架与工具在分析、构思、反思与协同设计过程中的有效性。
原文摘要 · Abstract (English)
Robot morphology, the form, shape, and structure of robots, is a key design space in human-robot interaction (HRI), shaping how robots function, express themselves, and interact with people. Yet, despite its importance, little is known about how design frameworks can guide systematic form exploration. To address this gap, we introduce Elements of Robot Morphology, a framework that identifies five fundamental elements: perception, articulation, end effectors, locomotion, and structure. Derived from an analysis of existing robots, the framework supports structured exploration of diverse robot forms. To operationalize the framework, we developed Morphology Exploration Blocks (MEB), a set of tangible blocks that enable hands-on, collaborative experimentation with robot morphologies. We evaluate the framework and toolkit through a case study and design workshops, showing how they support analysis, ideation, reflection, and collaborative robot design.
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