Contemporary work offers many humans the possibility to collaborate with robots. In fact, in industrial settings, human-robot interaction has become a necessity. To improve the quality of human collaboration with their robotic counterparts, practitioners and researchers turn their attention to the concept of fluency. It is crucial for human-robot interaction yet difficult to investigate. Moreover, we argue that the notion of fluency being a unidimensional construct is insufficient to understand the complex interaction in a human-robot team. Therefore, we aimed to develop and validate a new measure to study subjective fluency from three different perspectives, i.e., the human-oriented, the robot-oriented, and the team-oriented. The scale can serve as a tool to better understand the dynamics of the relationship between the operator and the robot.

In this paper, we presented the factor analyses and psychometric properties of the Fluency in Human-Robot Interaction Scale. Furthermore, we tested the validity of the scale by investigating the relationship between three perspectives of fluency and the individual performance as well as fluency change over 6 weeks. The results showed positive relationships among all perspectives of fluency and performance. However, no change over time was observed. The findings were discussed with regard to the possible use of the scale in practical and academic contexts.

当代工作为许多人提供了与机器人合作的可能性。事实上，在工业环境中，人机交互已成为必需品。为了提高与机器人同行的人类协作质量，从业者和研究人员将注意力转向了流畅性的概念。这对于人机交互至关重要，但难以调查。此外，我们认为流畅性是一维结构的概念不足以理解人机团队中的复杂交互。因此，我们旨在开发和验证一种新的测量方法，从三个不同的角度来研究主观流畅性，即以人为本、以机器人为导向、以团队为导向。秤可以作为一种工具，以更好地了解操作员和机器人之间关系的动态。

在本文中，我们介绍了人机交互流畅度量表的因素分析和心理测量特性。此外，我们通过调查流畅度的三个角度与个人表现以及 6 周内流畅度变化之间的关系来测试该量表的有效性。结果表明，流利度和绩效的所有观点之间存在正相关关系。然而，没有观察到随时间的变化。研究结果讨论了该量表在实际和学术环境中的可能用途。