待翻译：Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction

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--> [Submitted on 11 Aug 2026] Title:Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction View a PDF of the paper titled Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction, by Sean Kille and 3 other authors View PDF HTML (experimental) Abstract:Human movement is inherently variable, with variability structured according to task relevance: movements are typically more consistent at task-critical points and more flexible elsewhere. In human-robot interaction (HRI), however, model-based assistance strategies commonly assume deterministic human behavior and suppress such variability, potentially altering how interactions are experienced and lowering sense of agency. While movement variability is increasingly recognized as functionally meaningful, its deliberate preservation in assisted interaction, and its consequences for user experience, remain underexplored. In this paper, we empirically investigate how different assistance strategies shape human movement variability, task performance, and subjective interaction experience in a shared control setting. We introduce an autonomy-supportive shared control strategy that preserves users' natural movement structure. This approach is evaluated in a user study in which participants push an intelligent powered wheelchair under three conditions: no assistance, conventional variability-reducing assistance, and variability-preserving assistance. While task-relevant performance remained comparable across assisted modes, preserving natural movement variability led to more favorable interaction experiences. In particular, participants reported significantly higher perceived agency compared to conventional assistance and highest perceived usefulness. These findings suggest that variability-aware assistance can support both performance and user autonomy in physical human-robot collaboration. More broadly, the results highlight the importance of designing assistive robotic systems that respect the embodied structure of human movement rather than treating variability as noise to be neglected or eliminated. Comments: 15 pages, 7 figures Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC); Systems and Control (eess.SY) Cite as: arXiv:2608.11417 [cs.RO] (or arXiv:2608.11417v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.11417 arXiv-issued DOI via DataCite (pending registration) Submission history From: Sean Kille [view email] [v1] Tue, 11 Aug 2026 20:33:26 UTC (1,004 KB) Full-text links: Access Paper: View a PDF of the paper titled Locomotion Variability and User Experience in Smart Wheelchair Human-Robot Interaction, by Sean Kille and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.HC cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)