AI 中文总结
研究老年人在机器人步行引导中对不同触摸模式的感知与响应，通过多模态评估方法，发现交互时压力略升但总体接受，较大交互力条件下距离更小，为机器人步行引导辅助设计提供见解，表明老年人更喜欢轻柔稳定触摸。
AI 中文摘要
老年护理面临医护人员短缺的挑战，机器人可融入护理场景提供帮助和情感支持。步行引导是一项有前景的应用，本研究旨在了解老年人在引导步行过程中如何感知和响应不同触摸模式。24名68至88岁老年人在机器人TIAGo Pro引导下，于四种接触条件下（无身体接触、手握机器人手腕、与机器人挽臂、前臂靠在机器人前臂）沿十米轨迹行走四次。采用多模态评估方法，生理结果显示机器人交互时压力水平略有上升，行为和主观测量表明对机器人触摸总体接受，较大交互力的两种条件下参与者与机器人相对距离更小，问卷结果支持这些发现。本研究为机器人步行引导辅助设计提供了见解，表明与非接触交互相比，老年人更喜欢轻柔、稳定的触摸。
英文摘要
The shortage of healthcare staff is a challenge in geriatric care. To address this, robots can be integrated into care settings to provide assistance and emotional support. A promising application is walking guidance, particularly benefiting older adults as navigation skills deteriorate with aging. As walking guidance involves direct contact, the aim of this study is to understand how older adults perceive and respond to different touch modes during guided walking. 24 older adults (68 - 88 yrs.) walked four times a ten-meter trajectory guided by the robot TIAGo Pro in four contact conditions: no physical contact (NC); physical contact through holding the robot's wrist with the hand (HH); physical interaction through linking arms with the robot (LA); and physical contact through resting the forearm on the robots forearm (FC). A multimodal assessment approach included electrocardiogram, electrodermal activity, contact force, distance to robot, and questionnaires. Physiological results reveal a slight increase in stress levels during robot interaction. Behavioural and subjective measures, however, show overall acceptance of robotic touch. The two conditions corresponding to larger interaction forces (HH and FC) were associated with lower relative distances between participant and robot, indicating a higher trust and confidence. Questionnaire responses supported these findings, evidencing greater perceived safety, trust and comfort in these conditions. This study provides insights for the design of robotic walking guidance assistance, indicating that gentle, stable touch is preferred by older adults in comparison to contactless interaction.
