比较三种人机协作模式，发现主动型最受用户欢迎。
Exploring Human-Robot Collaboration: Analysis of Interaction Modalities in Challenging Tasks
- 对比被动、反应式和主动三种协作方式
- 78%认为主动协助最有用，67%偏好主动模式
- 主动提示与递送能提升用户体验
本研究比较了人机协作中的三种交互模式：被动、反应式和主动。18名参与者需凭记忆搭建七层彩色积木塔，积木位于近处或远处。被动模式下参与者独自完成；反应式模式中移动机器人仅在请求时提供帮助；主动模式下机器人无需指令即主动递送积木并提示错误。尽管机器人协助延长了完成时间，多数参与者仍偏好协作：67%更喜欢主动行为，78%认为其最实用。结果表明，在可控协作任务中，及时的主动支持可显著提升用户体验。
原文摘要 · Abstract (English)
This work compares three interaction modalities for human-robot collaboration: passive, reactive, and proactive. We studied 18 participants assembling a seven-layer colored tower from memory while using nearby and distant blocks. In the passive modality participants worked alone; in the reactive modality a mobile robot helped only upon request; in the proactive modality it initiated brick delivery and error signaling without explicit requests. Although robot assistance increased completion time, most participants preferred collaboration: 67% preferred proactive behavior and 78% judged it most useful. These results suggest that timely proactive support can improve user experience in controlled collaborative tasks.
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