Mobile robotic telepresence systems require that information about the environment, the task, and the robot be presented to a remotely located user (operator) who controls the robot for a specific task. In this study, two interaction modes, proactive and reactive, that differ in the way the user receives information from the robot, were compared in an experimental system simulating a healthcare setting. The users controlled a mobile telepresence robot that delivered and received items (medication, food, or drink), and also obtained metrics (vital signs) from a simulated patient while the users performed a secondary healthcare-related task (they compiled health records which were displayed to them on the screen and answered related questions). The effect of the two interaction modes on overall performance and user perception was evaluated through a within-participant study design conducted with 50 participants belonging to two different types of populations (with and without a technological background). Efficiency, effectiveness, understanding, satisfaction, and situation awareness were defined as the dependent variables measured both objectively and subjectively. The proactive mode increased user performance, and understanding of the system and reduced the workload compared to the reactive mode. However, several of the users valued the option of increased user control experienced in the reactive mode. We, therefore, proposed design suggestions to highlight some of the benefits of factoring the reactive mode into the design as a hybrid mode.

中文翻译：

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移动机器人远程护理研究中主动和被动交互模式的比较

移动机器人远程呈现系统要求将有关环境、任务和机器人的信息呈现给控制机器人执行特定任务的远程用户（操作员）。在本研究中，在模拟医疗保健环境的实验系统中比较了主动式和被动式两种交互模式，这两种模式的用户从机器人接收信息的方式有所不同。用户控制一个移动远程呈现机器人，该机器人传送和接收物品（药物、食物或饮料），并在用户执行次要医疗保健相关任务时从模拟患者那里获取指标（生命体征）（他们编制了健康记录，这些记录是在屏幕上向他们显示并回答相关问题）。两种交互模式对整体性能和用户感知的影响通过参与者内部研究设计进行评估，该研究设计涉及 50 名属于两种不同类型人群（有技术背景和没有技术背景）的参与者。效率、有效性、理解、满意度和情境意识被定义​​为客观和主观测量的因变量。与反应模式相比，主动模式提高了用户性能和对系统的理解，并减少了工作量。然而，一些用户看重在反应模式下增强用户控制的选项。因此，我们提出了设计建议，以强调将反应模式作为混合模式纳入设计的一些好处。