Objective: The last decades have seen a surge of robots for physical training and work assistance. How to best control these interfaces is unknown, although arguably the interaction should be similar to human movement assistance. Methods: We compare the behaviour and assessment of subjects tracking a moving target with assistance from (i) trajectory guidance (as typically used in robots for physical training), (ii) a human partner, and (iii) the reactive robot partner of Takagi et al . Results: Trajectory guidance was recognised as robotic, while the robot partner was felt as human-like. However, trajectory guidance was preferred to assistance from a human partner, which was recognised as less predictable. The robot partner also was felt to be more predictable and helpful than a human partner, and was preferred. Conclusions: While subjects like to rely on predictable interaction, such as in trajectory guidance, the control reactivity of the robot partner is essential for perceiving an interaction as human-like.

中文翻译：

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对于运动辅助，人类更喜欢依赖机器人而不是不可预测的人类

客观的：在过去的几十年里，用于体育锻炼和工作辅助的机器人激增。如何最好地控制这些界面是未知的，尽管可以说交互应该类似于人类运动辅助。方法：我们在 (i) 轨迹引导（通常在机器人中用于体育训练）、(ii) 人类伙伴和 (iii) Takagi 的反应性机器人伙伴的帮助下，比较跟踪移动目标的受试者的行为和评估等人 .结果：轨迹引导被认为是机器人，而机器人伙伴被认为像人类。然而，轨迹引导比人类伙伴的帮助更受欢迎，后者被认为是不可预测的。机器人伙伴也被认为比人类伙伴更容易预测和乐于助人，因此更受欢迎。结论：虽然受试者喜欢依赖可预测的交互，例如在轨迹引导中，但机器人伙伴的控制反应性对于将交互感知为类人交互至关重要。