I feel being there, they feel being together: Exploring How Telepresence Robots Facilitate Long-Distance Family Communication
我感觉在那里，他们感觉在一起：探讨远程家庭沟通如何借助远程机器人实现

3.3.1 Set-up and Pre-Interview. Before commencing the study, we scheduled the time for set-up and pre-deployment interviews that both local and remote members could participate in. Then, we brought the Double telepresence robot into the houses of local family members at the scheduled time. Upon obtaining their consent for study participation, we provided instructions to both local and remote members regarding the operation of the telepresence robots, including the fundamental functionalities of the robot.
3.3.1 设置和预访谈。在开始研究之前，我们安排了本地和远程成员都可以参与的设置和预部署访谈时间。然后，我们在预定时间将双重远程机器人带入本地家庭成员的家中。在获得他们参与研究的同意后，我们向本地和远程成员提供了有关远程机器人操作的说明，包括机器人的基本功能。

After completing the setup process, we conducted a joint pre-interview session, where both local and remote family members participated in interviews simultaneously. Pre-deployment interview questions aimed to gain insights into their general CMC uses for family communication. For instance, we posed questions such as “How frequently do your family members maintain contact?”, and “Which CMC tools do your family predominantly use for communication?” We also asked both local and remote family members about the primary challenges they faced when communicating with each other using current CMC tools. Lastly, we encouraged participants to coordinate their availability to use telepresence robots, especially for families in which remote family members lived abroad due to time differences.
完成设置过程后，我们进行了一次联合的预访谈会，当地和远程家庭成员同时参与了访谈。部署前的访谈问题旨在了解他们在家庭沟通中的一般计算机媒体通信使用情况。例如，我们提出了问题，比如“您的家庭成员保持联系的频率有多高？”，以及“您的家庭主要使用哪些计算机媒体通信工具进行沟通？”我们还询问了当地和远程家庭成员在使用当前计算机媒体通信工具进行沟通时所面临的主要挑战。最后，我们鼓励参与者协调他们的时间可用性来使用远程机器人，特别是对于远程家庭成员因时差而住在国外的家庭。

3.3.2 2 Weeks of Telepresence Robot Uses for Family Communication. For two weeks of deployment, we intentionally did not impose specific requirements or rules on our participants’ use of the robot. Our aim was to observe how families naturally incorporated the telepresence robot into their communication. To capture these robot-mediated family interactions, we requested all remote family members to utilize the screen recording feature on their smartphones, tablets, or laptops to record their interaction. These recordings provided comprehensive views of both the local family and controller sides of the family interaction, which helped us understand the events in the home spaces.
3.3.2 家庭沟通中使用远程机器人两周。在部署两周的时间里，我们故意没有对参与者使用机器人设定具体要求或规则。我们的目的是观察家庭如何自然地将远程机器人融入他们的沟通中。为了捕捉这些机器人介导的家庭互动，我们要求所有远程家庭成员利用他们的智能手机、平板电脑或笔记本电脑的屏幕录制功能来记录他们的互动。这些录像提供了对家庭互动的全面视角，帮助我们理解家庭空间中发生的事件。

3.3.3 Post-Interview including Idea Sketches. Prior to the scheduled post-interview session, we asked participants to share the recorded videos with us. We explained the purposes for collecting these recorded videos, emphasizing our interest in gaining insights into their natural communication using the telepresence robot. While participants recommended recording all usage instances, they could only selectively share the recordings they felt comfortable sharing. We also encouraged them to review these recordings to illustrate situations that might be hard to describe verbally. We reviewed all recorded videos before conducting the post-deployment interviews, allowing us to identify primary use cases and interesting moments that allowed us to develop tailored interview questions for the post-interview sessions.
3.3.3 面试后包括创意草图。在预定的面试后会话之前，我们要求参与者与我们分享录制的视频。我们解释了收集这些录制视频的目的，强调我们对通过远程机器人进行自然沟通的洞察的兴趣。虽然参与者建议记录所有使用情况，但他们只能选择性地分享他们感到舒适的录像。我们还鼓励他们回顾这些录像，以说明可能难以用言语描述的情况。在进行部署后面试之前，我们审查了所有录制的视频，使我们能够识别主要用例和有趣的时刻，从而为面试后会话制定量身定制的面试问题。

In the post-interview sessions, we explored participants’ experiences with the telepresence robot over the two-week study period in detail by interviewing all family members. We asked them the overall context of using the telepresence robot, such as timing, location, duration, and reasons for their robot use. We also examined how they used the robot's functionalities in the context of family communication in general. Additionally, we also asked participants to share intriguing and distinctive use cases. Furthermore, by analyzing participants’ communication behaviors and patterns using the provided video recordings, we formulated detailed follow-up questions for their primary use cases and interesting moments we observed. We focused on understanding their emotions, satisfaction, and motivations regarding specific situations observed in the recorded videos.
在面试后的会话中，我们通过采访所有家庭成员详细探讨了参与者在为期两周的研究期间与远程机器人的体验。我们询问了他们使用远程机器人的整体背景，如时间、地点、持续时间以及使用机器人的原因。我们还研究了他们在家庭交流背景下如何使用机器人的功能。此外，我们还要求参与者分享有趣和独特的使用案例。此外，通过分析参与者在提供的视频录像中的交流行为和模式，我们为他们的主要使用案例和我们观察到的有趣时刻制定了详细的后续问题。我们专注于理解他们在录制视频中观察到的特定情况的情绪、满意度和动机。

Finally, we examined the challenges and concerns that participants faced while using telepresence robots for family communication. We also encouraged them to provide design suggestions. Participants shared idea sketches based on the pain points they experienced and suggestions for the better design of telepresence robots for family communication. Notably, we received diverse sketch proposals from both remote and local families. Remote family members focused on the system user interface (UI) and the functionality of the control system, while local family members contributed more to the physical appearance and functionalities of the robot itself.
最后，我们研究了参与者在使用远程机器人进行家庭沟通时面临的挑战和关注。我们还鼓励他们提供设计建议。参与者根据他们的痛点经验分享了想法草图，并提出了更好地设计远程机器人用于家庭沟通的建议。值得注意的是，我们收到了来自远程和本地家庭的各种草图提案。远程家庭成员关注系统用户界面（UI）和控制系统的功能，而本地家庭成员更多地贡献于机器人本身的外观和功能。

4.1.1 Stationary Conversations in a Close Proximity. The telepresence robot was used to engage in a focused conversation with specific family members. Usually, remote family members who controlled the robot approached the local family members they wanted to talk with and parked the robot near them. During this stationary conversation, we observed that local family members enjoyed the comfort of having physical autonomy, especially their hands, as they did not hold the device but could use their hands freely to express themselves with gestures. For example, Hailey's mother (local family) said that “I relaxed on the sofa while talking to my daughter through the robot. I didn't have to hold my phone or worry about angles, which was very comfortable and supported me to focus more on the conversation.”.
4.1.1 靠近距离的固定对话。 电视会议机器人被用来与特定家庭成员进行专注对话。通常，控制机器人的远程家庭成员会接近他们想要交谈的当地家庭成员，并将机器人停放在他们附近。在这种固定对话过程中，我们观察到当地家庭成员享受着拥有身体自主权的舒适感，尤其是他们的双手，因为他们不需要拿着设备，可以自由使用双手进行手势表达。例如，海莉的母亲（当地家庭成员）说：“我躺在沙发上，通过机器人与女儿交谈。我不必拿着手机或担心角度，这非常舒适，支持我更专注于对话。”。

Further, remote family members said that they could feel more immersed in remote conversations due to the wide-angle camera. The wide-angle view helped them better observe non-verbal cues from local family members and contextual nuances in the conversation. For instance, Faith (controller) said: “I could easily see what is happening there at home through the wide-angle view, which also made me feel like almost being there.”
此外，远在外地的家庭成员表示，由于广角摄像头，他们在远程交流中能够更加沉浸其中。广角视野帮助他们更好地观察当地家庭成员的非语言线索以及对话中的语境细微差别。例如，Faith（控制者）表示：“通过广角视野，我可以轻松看到家里发生的事情，这也让我感觉几乎就像在那里一样。”

4.1.2 Conversations on the Move. As participating families became familiar with using the telepresence robot, they used its mobility feature more actively to explore the remote environment and interact with multiple family members. We found that local and remote family members experienced different types of autonomy in conversing with mobility. Remote family members felt the autonomy of movement, allowing them to navigate to desired locations and engage in conversations with specific family members. Their movement autonomy allowed them to restore their actual in-person interaction styles with other family members. For example, Ellen (controller) said, “As I moved from the living room to the kitchen, I could stop by my brother's room to say hi. This let us have a natural brother-sister conversation.” Belle (controller) also shared her experience when she observed blooming plants together with her mother. She said, “My mom pointed out a blooming plant in the living room. We had bought the plant together when we lived together, and now it had finally blossomed. The ability to explore and experience these things with my parents, rather than just receiving photos or engaging in a fixed-angle video call, made it an exceptional and heartwarming experience” (See Figure 4-D).
4.1.2 移动中的对话。随着参与的家庭熟悉使用远程机器人，他们更积极地利用其移动功能来探索远程环境并与多个家庭成员互动。我们发现，本地和远程家庭成员在使用移动功能进行对话时体验到不同类型的自主性。远程家庭成员感受到了移动的自主性，使他们能够导航到所需位置并与特定家庭成员进行对话。他们的移动自主性使他们能够恢复与其他家庭成员的实际面对面互动风格。例如，埃伦（控制者）说：“当我从客厅走到厨房时，我可以顺便去我哥哥的房间打个招呼。这让我们进行了一场自然的兄妹对话。”贝尔（控制者）也分享了她与母亲一起观察盛开植物的经历。她说：“我妈妈指出客厅里一盆盛开的植物。我们在一起时买了这盆植物，现在它终于开花了。” 能够与父母一起探索和体验这些事物，而不仅仅是收到照片或参与固定角度的视频通话，使这成为一次非凡而温暖的体验”（见图 4-D）。

On the other hand, we observed that local family members could multitask while conversing with remote family members. They did not have to focus on the communication tool in one location, as remote family members controlled the location of the robot independently. Hailey's mother (local) said, “While I was getting ready to go out, my daughter approached me, and we had a conversation in front of the dressing room. The telepresence robot's ability to move independently meant that I didn't need to hold my phone. It was incredibly convenient to chat with her while I worked on other tasks.” Further, the mobility of the robot also helped local family members understand the intentions of their remote family members more clearly, such as where they wanted to see or who they wanted to talk with. David's father (local) shared: “My son turned the robot and followed the cat while talking to me. I realized he wanted to interact with me and the cat. I could sense his intention.”
另一方面，我们观察到当地家庭成员在与远程家庭成员交谈时能够同时处理多项任务。他们不必专注于一个地点的通讯工具，因为远程家庭成员可以独立控制机器人的位置。海莉的母亲（当地）说：“当我准备外出时，我的女儿走到我跟前，我们在更衣室前进行了一次对话。远程机器人能够独立移动，这意味着我不需要拿着手机。在我处理其他任务时与她聊天非常方便。”此外，机器人的移动性也帮助当地家庭成员更清晰地理解远程家庭成员的意图，比如他们想要看什么或者想要和谁交谈。大卫的父亲（当地）分享道：“我儿子转动机器人，一边和我说话一边跟着猫。我意识到他想要和我以及猫互动。我能感受到他的意图。”

Furthermore, we also found that the telepresence robot helped kids to be naturally involved in the conversation. For example, Amy's father (local) said: “Our grandchildren, who previously had difficulty maintaining focus during video calls, wanted to continue the calls and enjoyed interacting with us. They love to drive it!” This gamified nature and mobility features made family communication more engaging for kids, enabling them to participate in family communication more actively.
此外，我们还发现，远程机器人帮助孩子们自然地参与了对话。例如，艾米的父亲（当地人）说：“我们的孙子孙女以前在视频通话中很难保持注意力，现在却想要继续通话并享受与我们互动。他们喜欢驾驶它！”这种游戏化的特性和移动功能使家庭沟通对孩子们更具吸引力，使他们能更积极地参与家庭沟通。

As such, participants viewed telepresence robots as an advanced alternative to video calls but also noted the need for an intuitive interface and a quick setup process. For family members of all ages, from kids to older adults, to engage in family conversation via telepresence robots, they emphasized that “intuitive controls and more simple ways of setting up and initiating calls for all age groups” (Gina's father, local) would be necessary.
因此，参与者将远程机器人视为视频通话的先进替代方案，但也指出需要直观的界面和快速的设置过程。对于各个年龄段的家庭成员，从儿童到老年人，通过远程机器人参与家庭对话，他们强调需要“直观的控制和更简单的设置和发起通话方式，适用于各个年龄段”（吉娜的父亲，当地）是必要的。

While controllers liked the autonomy of movement, they sometimes found it difficult to focus on conversation because they had to continuously manage robot movement using a keypad while conversing or moving between spaces. Amy (controller) said, “We always need to concentrate on controlling the robot unless it is parked. It would be great if we could control the robot more naturally, such as using voice commands or gestures.” Several controller participants suggested expanding control options by reducing the need for a keypad to control movement so they could enhance their physical autonomy, similar to local family sides.
尽管控制者喜欢自由移动的自主性，但有时他们发现很难专注于对话，因为他们在交谈或在空间之间移动时必须不断使用键盘来管理机器人的移动。艾米（控制者）说：“除非机器人停放，否则我们总是需要集中精力控制机器人。如果我们能够更自然地控制机器人，比如使用语音命令或手势，那将会很棒。”几位控制者参与者建议通过减少使用键盘来控制移动的需求来扩展控制选项，以便他们可以增强他们的身体自主性，类似于当地家庭成员。

The images provided (A-F) illustrate the restoration of family routines within the living room and kitchen while emphasizing the vital aspect of accessibility for remote family members. In the upper left corner (A), remote and local family members partake in tea time, reviving the cherished tradition of sharing tea. Shifting to the upper right corner (B), family members immerse themselves in watching baseball games, showcasing how remote family members can seamlessly participate in the family's sports-watching tradition. Transitioning to the lower left corner (C), family members engage in exercise together, highlighting the accessibility of remote family members to join in physical activities. In the lower middle section (D), a heartwarming lunchtime gathering is depicted, underlining how remote family members can share meals and the experience of dining together. Lastly, the image in the lower right corner (E) captures interactions between remote family members and local family members while cooking and washing dishes, emphasizing the sense of togetherness even during household chores.

4.2.1 Reconnecting with Family and Home. With the autonomy of movement, controllers eagerly explored their homes. This exploration helped them deepen their understanding of their living spaces and foster a stronger sense of connection and belonging to their home and family. For example, Gina (controller) said, “I was thrilled to see my home and reunite with my parents through the robot. I moved around the whole house for a while and even enjoyed an outdoor view with my mom” (See Figure 4-A). This home exploration naturally led to reminiscing about the family memories. In particular, many remote family members found it fascinating to explore the various photo frames and decorations on display in their family homes. Sometimes, local family members looked around together, sharing their family memories. For example, Amy's sister (controller) said: “I looked at all the photos in the living room with my father. These pictures are like a timeline of my life, from infancy to becoming a mother of two daughters. We reminisced about our memories” (See Figure 4-B).
4.2.1 重新与家人和家园联系。随着移动的自主权，控制者们急切地探索他们的家园。这种探索帮助他们加深对自己生活空间的理解，培养对家庭和家园更强烈的连接感和归属感。例如，吉娜（控制者）说：“通过机器人，我很高兴看到我的家，与父母团聚。我在整个房子里转了一会儿，甚至和妈妈一起欣赏了户外景色”（见图 4-A）。这种家园探索自然而然地引发了对家庭记忆的回忆。特别是，许多远程家庭成员发现在家中展示的各种照片和装饰很有趣。有时，当地家庭成员一起四处看看，分享他们的家庭记忆。例如，艾米的姐姐（控制者）说：“我和父亲一起看了客厅里的所有照片。这些照片就像是我生活的时间轴，从婴儿时期到成为两个女儿的母亲。我们一起回忆我们的记忆”（见图 4-B）。

4.2.2 Rediscovering Changes in the Home. Some remote family members had been away from their homes for a long time and could not visit due to the COVID-19 pandemic. As a result, for the cases when the local family home was renovated or relocated, telepresence robots gave remote family members a chance to tour their family's new home or renovated spaces. For example, Celine's local family living room was being renovated during the study. Through the robot, remote family members could observe the renovation process by navigating the house through the robot. Celine (controller) said: “I could see the progress of the renovation work in our home and witness the changes” (See Figure 4-C).
4.2.2 重新发现家庭变化。一些远在他乡的家庭成员因为新冠疫情而长时间无法回家探望。因此，在当地家庭进行装修或搬迁时，远程家庭成员通过远程机器人有机会参观他们家的新家或装修空间。例如，瑟琳的当地家庭客厅在研究期间正在装修。通过机器人，远程家庭成员可以通过机器人在房子里观察装修过程。瑟琳（控制者）说：“我可以看到我们家装修工作的进展并见证变化”（见图 4-C）。

However, some controllers reported challenges when exploring homes with more diverse layouts and objects. Our participants shared their difficulties of encountering obstacles and limitations when navigating narrow spaces. Therefore, enhancing the robot's mobility and navigation capabilities emerged as a key recommendation. For example, Amy (controller) said: “I would like to emphasize the necessity of versatile wheel mechanisms and control options, such as automatic avoidance technology and gesture controls, in order to address diverse situations and potential emergencies.” In ideation sketches, some suggested specific improvements, such as adding wheels designed for navigating two-story houses, implementing obstacle avoidance technology to move around furniture and decorations, and improving maneuverability in tight spaces.
然而，一些控制器报告了在探索布局和物品更为多样的住宅时遇到的挑战。我们的参与者分享了在狭窄空间中遇到障碍和限制时的困难。因此，提升机器人的移动性和导航能力成为了一个关键建议。例如，艾米（控制器）表示：“我想强调多功能轮子机制和控制选项的必要性，比如自动避障技术和手势控制，以解决各种情况和潜在紧急情况。”在构思草图中，一些人建议了具体的改进，比如添加专为二层房屋导航设计的轮子，实施避障技术以绕过家具和装饰物，以及提高在狭小空间中的机动性。

In these images (A and B) illustrate the restoration of family routines through the active involvement of remote family members in significant family events. On the left (A), both local and remote family members celebrate birthdays together. Moving to the right (B), remote family members seamlessly participate in a large family gathering.

4.3.1 Joining Everyday Activities. We observed that families interacted in various spaces of the homes, particularly in communal areas like the living room and kitchen, which served as common gathering spots for both local and remote family members. For example, families spent leisure time together watching TV, listening to music, exercising together, and having tea time in the living room on weekends (See Figure 5-A,B,C). Remote family members parked their robots near the sofa, actively joining in family routines. Interestingly, Hailey (controller) even selected TV channels and songs through the AI speaker by moving closer to it. Hailey's mother (local) expressed her happiness about her daughter joining their everyday family activities, which made her feel like her daughter was with them. She said: “We watched a baseball game in the living room and sang cheering songs together to cheer for our team through the robot.”
4.3.1 参与日常活动。我们观察到家庭在家中的各个空间进行互动，特别是在客厅和厨房等公共区域，这些地方成为当地和远程家庭成员的常见聚集地。例如，家庭在周末一起在客厅里看电视、听音乐、一起锻炼，以及喝下午茶（见图 5-A，B，C）。远程家庭成员将他们的机器人停放在沙发附近，积极参与家庭日常活动。有趣的是，海莉（控制者）甚至通过靠近 AI 音箱来选择电视频道和歌曲。海莉的母亲（当地人）对女儿参与他们的日常家庭活动感到高兴，这让她觉得女儿就在身边。她说：“我们在客厅里看棒球比赛，通过机器人一起唱助威歌曲为我们的球队加油。”

Remote family members also participated in everyday activities like mealtime and housework in the kitchen. This allowed them to participate in conversations, offer help, and stay connected with their family members’ daily lives. For example, remote family members who lived alone joined local families’ mealtimes. Controllers moved the telepresence robot to the kitchen table and shared a meal. Belle (controller) said: “I parked the robot on the kitchen table and had dinner together. As we doing the same activity, I could make eye contact with my mom, so I felt like I was there” (See Figure 5-D). This arrangement allowed remote family members to participate virtually in the shared dining experience and feel a sense of togetherness despite being physically separated. Moreover, some local members interacted with their remote family members while performing household chores like washing dishes and cooking (See Figure 5-E,F). For example, Faith's mother (local) mentioned, “When I cooked dinner in the kitchen, my son would come to me and ask about the dinner menu and recipes.”
远程家庭成员也参与了厨房里的日常活动，比如用餐和做家务。这使他们能够参与对话，提供帮助，并与家人的日常生活保持联系。例如，独居的远程家庭成员会加入当地家庭的用餐时间。控制者将远程机器人移动到厨房桌子上，一起分享一顿饭。贝尔（控制者）说：“我把机器人停在厨房桌子上，一起吃晚饭。由于我们在做同样的活动，我可以与我妈妈进行眼神交流，所以我感觉自己就在那里”（见图 5-D）。这种安排使远程家庭成员能够在虚拟环境中参与共享的用餐体验，并在身体上分离的情况下感受到一种团结感。此外，一些当地成员在做洗碗和烹饪等家务时与远程家庭成员互动（见图 5-E，F）。例如，菲斯的母亲（当地）提到：“当我在厨房做晚饭时，我的儿子会过来问我晚餐菜单和食谱。”

Our participants also restored shared activities in more diverse spaces, such as the front door, hallway, bedroom, and dressing room. For example, remote family members could greet their local family members when they arrived home by moving to the front door. For example, Amy's sister (local) shared her experience of going to the front door to welcome their mother back from the gym and meeting her sister in the hallway on her way to the front door, feeling like “I really liked being there beside my sister and mother.” Also, Amy (controller) spent much time in the dressing room and bedroom with her mother and sister. It provided them with an opportunity to share clothing purchases and help their younger sister dress for upcoming meetings and dates. Amy's sister (local) said: “My sister and I used to spend much time together in the dressing room when we lived together. [Through the telepresence robot], we can now reunite and engage in this activity again.” Moreover, Celine (controller) said she chatted with her mother and sister in the bedroom before bedtime as if they were to live together. For example, Celine (controller) said “I used to talk a lot with my sister and mother. It always happened when we lived together. I am glad we can restore this again.”
我们的参与者还在更多不同的空间中恢复了共享活动，例如前门、走廊、卧室和更衣室。例如，远程家庭成员可以通过走到前门迎接当地家庭成员回家。例如，艾米的姐姐（当地）分享了她去前门迎接母亲从健身房回来的经历，并在去前门的路上在走廊遇到她的姐姐，感觉像“我真的很喜欢站在我姐姐和母亲旁边”。此外，艾米（控制者）与母亲和姐姐在更衣室和卧室中花费了很多时间。这为她们提供了分享服装购买的机会，帮助她们的妹妹为即将到来的会议和约会穿衣。艾米的姐姐（当地）说：“我们以前住在一起时经常在更衣室里呆在一起。[通过远程存在机器人]，我们现在可以再次团聚并参与这项活动。”此外，赛琳（控制者）说她在睡前在卧室与母亲和姐姐聊天，就像他们要一起生活一样。例如，赛琳（控制者）说：“我以前和姐姐和母亲聊得很多。 每当我们住在一起时，这种情况总是发生。我很高兴我们能够再次恢复这种情况。”

As such, various family rituals and routines took place throughout the entire home. However, there were few privacy concerns reported with regard to the use and access of telepresence robots. Local families willingly allowed remote family members access to any place in the entire home space. Celine's sister (local) said: “We have lived together for more than 20 years, so there is no need to protect privacy for our own family members.”
因此，各种家庭仪式和日常规律在整个家中进行。然而，关于远程遥控机器人的使用和访问，很少有隐私问题被报告。当地家庭乐意让远程家庭成员访问整个家庭空间中的任何地方。塞琳的姐姐（当地人）说：“我们已经一起生活了 20 多年，所以没有必要为我们自己的家庭成员保护隐私。”

4.3.2 Participating in Family Gatherings on Special Occasions. In addition, remote families used the telepresence robot to participate in family events and celebrate special occasions. For example, on Lunar New Year's Day, remote family members could greet the whole family by bowing politely through the robot. They could also join the ancestral rites. Celine's mother (local) said, “My daughter's family bowed politely and connected with us during the ancestral rituals. It was a special memory for us that they could join and be emotionally present with us.” In another case, family members celebrated a remote family member's birthday with the robot (See Figure 6-A). Amy (controller) said, “I could celebrate my birthday with my parents and sister through the robot. I could see how much they celebrated my birthday, and I felt we were together.” Additionally, Ellen's family shared their experience of a big family gathering: “When our in-laws visited our home, my daughter participated in our family gathering via the robot. She could interact with her grandparents, whom she missed a lot” (See Figure 6-B).
4.3.2 参加特殊场合的家庭聚会。此外，远程家庭使用远程机器人参加家庭活动并庆祝特殊场合。例如，在农历新年这一天，远程家庭成员可以通过机器人向整个家庭恭敬鞠躬致意。他们还可以参加祭祀仪式。塞琳的母亲（当地人）说：“我的女儿一家在祭祀仪式中恭敬鞠躬，并与我们联系。对我们来说，他们能够参与并与我们共同感受到情感是一段特殊的记忆。”在另一种情况下，家庭成员通过机器人庆祝远程家庭成员的生日（见图 6-A）。艾米（控制者）说：“我可以通过机器人与我的父母和姐姐一起庆祝我的生日。我看到他们是如何庆祝我的生日的，我感到我们在一起。”此外，艾伦的家庭分享了他们参加大型家庭聚会的经历：“当我们的亲家人来我们家时，我的女儿通过机器人参加了我们的家庭聚会。她可以与她非常想念的祖父母互动”（见图 6-B）。

Remote family members also noted that the robot gave them more opportunities to participate in various family activities, creating a strong sense of telepresence. Ellen (controller) shared: “I have been living alone in Hong Kong for over three years due to my work, and I have missed my family tremendously. So, when I saw all my family members on one screen, I felt like I was right there with them, and it helped alleviate my homesickness.” Also, local family members said that they sense the presence of remote family members through the robot's physical embodiment.
远在他乡的家人也指出，机器人为他们提供了更多参与各种家庭活动的机会，营造了强烈的远程存在感。艾伦（控制者）分享道：“由于工作的原因，我已经独自在香港生活了三年多，非常想念我的家人。所以，当我看到所有家人都在一个屏幕上时，我感觉自己就在他们身边，这有助于减轻我对家的思念。”此外，当地家人表示，他们通过机器人的实体感受到远程家人的存在。

Some participants, however, felt there was room for improvement in fully restoring family routines through telepresence robots. First, some participants shared some challenges in initiating and setting up the phase. Many of them mentioned the inconvenience of the multiple steps required to connect the robot, which could disrupt their natural daily routines. For example, Gina's sister (controller) said: “We want to use this robot daily, but it's too complicated for us during the initiation stage. We always have to ask my local family for assistance in turning on the robot and the app to receive my call.” Therefore, our participants suggested simpler access methods, such as password input and automated scheduling, and proposed modes like ‘always on.’ Regarding the always-on mode, Gina's father (local) added: “We have no privacy concerns with our daughters; they should be able to connect freely without our permission.”
然而，一些参与者认为通过远程机器人完全恢复家庭日常生活还有改进的空间。首先，一些参与者分享了在启动和设置阶段遇到的一些挑战。其中许多人提到了连接机器人所需的多个步骤的不便之处，这可能会干扰他们的日常生活习惯。例如，吉娜的姐姐（控制者）说：“我们想每天使用这个机器人，但在启动阶段对我们来说太复杂了。我们总是不得不向我当地的家人寻求帮助，才能打开机器人和应用程序接听我的电话。”因此，我们的参与者建议采用更简单的访问方法，比如密码输入和自动排班，并提出了“始终开启”等模式。关于始终开启模式，吉娜的父亲（当地人）补充道：“我们对我们的女儿没有隐私顾虑；她们应该能够自由连接，无需我们的许可。”

In addition, while most families had minimal privacy concerns among family members, they were more concerned about security from external threats. Some participants were worried about potential camera hacking, so they suggested a removable camera cover to protect family privacy when the robot was not in use. Celine's sister (local) mentioned: “We are concerned about hacking or camera breaches. A removable camera cover, like laptop webcam stickers, would be very helpful to protect our family privacy from others.”
此外，大多数家庭在家庭成员之间几乎没有隐私问题，但更关注来自外部威胁的安全性。一些参与者担心可能会发生摄像头被黑客入侵的情况，因此他们建议在机器人不使用时使用可拆卸的摄像头盖来保护家庭隐私。塞琳的姐姐（当地人）提到：“我们担心黑客入侵或摄像头被窃取。类似笔记本电脑网络摄像头贴纸的可拆卸摄像头盖将非常有助于保护我们家庭的隐私不受他人侵犯。”

Moreover, they said multi-remote family engagement presented challenges. As the current telepresence robot system allowed only one controller at a time to join the family interaction, there were some difficulties if there was more than one distant member, like David, Faith, and Gina's cases. Therefore, these families suggested implementing a multi-remote user system that enabled several controllers to engage in family routines.
此外，他们表示，多地远程家庭参与存在挑战。由于当前的远程机器人系统一次只允许一个控制器参与家庭互动，如果有多个远程成员，如大卫、费斯和吉娜的情况，就会出现一些困难。因此，这些家庭建议实施一个多远程用户系统，使多个控制器能够参与家庭日常活动。

These ideation sketches, labeled as A to C and drawn respectively by Ellen's family, Faith's family, and Celine's family, present suggested improvements for telepresence robots at a user interface (UI) level.

From left to right (A and B), these examples demonstrate how telepresence robots assist distant families. In image A, a family member remotely assists elderly parents by reading fine print in manuals on the left. On the right, image B shows the robot explaining the use of a wrist guard to a pregnant daughter. These examples highlight the robot's role in providing remote support and guidance to distant family members.

Further, some also proposed displaying contextual information on the system screen, such as local time and weather. These suggestions aimed to enhance mutual understanding among family members. For example, Ellen (controller) said: “Displaying time differences would be helpful for enhancing mutual understanding between local and remote family members in everyday life” (See Figure 7-A).
此外，一些人还建议在系统屏幕上显示上下文信息，如当地时间和天气。这些建议旨在增进家庭成员之间的相互理解。例如，埃伦（控制者）表示：“显示时差对增进当地和远程家庭成员在日常生活中的相互理解会有帮助”（见图 7-A）。

Finally, some participants suggested the potential for additional features that could add extra value to a home environment. Therefore, some participants suggested integrating smart home devices and systems into telepresence robots (See Figure 7-B). They suggested features such as remote control of lights, thermostats, and other smart devices through the robot's interface. Furthermore, some participants also proposed adding housework functions to the telepresence robot, such as vacuuming and wet mopping capabilities (See Figure 7-C). Celine's mother (local) said: “With the ability to help with cleaning tasks and explore the house, a robot could be more valuable and create win-win situations, such as assisting parents with cleaning while also allowing remote family members to engage with the home environment.”
最后，一些参与者提出了一些额外功能的潜力，这些功能可以为家庭环境增添额外价值。因此，一些参与者建议将智能家居设备和系统整合到远程呈现机器人中（见图 7-B）。他们建议通过机器人的界面实现灯光、恒温器和其他智能设备的远程控制等功能。此外，一些参与者还提议为远程呈现机器人添加家务功能，如吸尘和拖地的能力（见图 7-C）。塞琳的母亲（当地人）表示：“通过帮助清洁任务和探索房屋的能力，机器人可以变得更有价值，并创造双赢的局面，比如在帮助父母清洁的同时，也让远程家庭成员参与到家庭环境中。”

4.4.1 Supporting Practical Assistances in Sync. We observed that some participants assisted elderly parents or pregnant daughters who needed immediate support. For example, Gina's father (local) asked her daughter (controller) for help with tasks like solving technical issues or reading small fonts in manuals due to vision problems. Gina's father (local family) said: “I asked my daughter to read the small font in a manual. She came over, positioned the robot, and read it aloud for me” (See Figure 8-A). In addition, Belle (controller) said, “I got wrist pain after being pregnant, so my mother sent me the wrist guard. She guided me step by step on how to wear it. It was immensely helpful for obtaining information and seeking direct assistance” (See Figure 8-B).
4.4.1 支持同步的实际援助。我们观察到一些参与者在需要即时支持的情况下帮助年迈父母或怀孕的女儿。例如，吉娜的父亲（当地）向她的女儿（控制者）寻求帮助，比如解决技术问题或阅读说明书中的小字体，因为他视力有问题。吉娜的父亲（当地家庭）说：“我让女儿读说明书上的小字体。她过来，调整机器人的位置，为我大声朗读”（见图 8-A）。此外，贝尔（控制者）说：“怀孕后我的手腕疼痛，所以我妈妈给我寄来了护腕。她一步一步地指导我如何戴上它。这对于获取信息和寻求直接帮助非常有帮助”（见图 8-B）。

4.4.2 Fostering Emotional Connections with Non-Verbal Cues. We also observed our participants establishing strong emotional connections through nonverbal interactions like haptic feedback and facial expressions in family interactions. Some participants engaged in haptic interactions, including hugging the robot or tapping its head to express their affection. In particular, Belle (controller) mentioned how the telepresence robot helped nurture a strong bond between the baby in the womb: “I could share the changes in my body with my mother, who monitored my well-being and offered practical guidance. Moreover, I would show my baby bump on the robot's screen, allowing my parents to interact with the baby in the womb. My mother even read the book for the baby in the womb. Seeing their loving facial expressions showed just how much they cared for the baby.”
4.4.2 通过非语言线索培养情感联系。我们还观察到，参与者通过非语言互动，如触觉反馈和面部表情，在家庭互动中建立了强烈的情感联系。一些参与者参与了触觉互动，包括拥抱机器人或轻拍其头部以表达他们的情感。特别是，贝尔（控制者）提到了远程机器人如何帮助培养子宫内胎儿之间的强烈联系：“我可以与监测我的健康状况并提供实用指导的母亲分享我身体的变化。此外，我会在机器人的屏幕上展示我的肚子隆起，让我的父母与子宫内的胎儿互动。我母亲甚至为子宫内的胎儿读书。看到他们充满爱意的面部表情，表明他们是多么关心这个宝宝。”

From left to right, the three images (labeled A to C) depict suggested improvements aimed at enhancing accessibility within telepresence robots at the physical level.

In these images (A1, A2, A3, and B), we illustrate hide-and-seek games played using a telepresence robot. In A1 to A3, the local family seeks the robot, while in B, remote family members search for their family member at home. These scenarios demonstrate how telepresence robots can bring playful interactions to remote family dynamics.

However, these participants also shared some suggestions regarding the current appearance of telepresence robots as a support tool. When it came to emotional support and information, they were dissatisfied with the rigid and mechanical robotic form that lacked human qualities. Therefore, they suggested adding more human-like and customized features that would enable the robot to better emulate human body features (See Figure 9-A). For example, Ellen's mother (local) suggested: “Adding a hanger to the robot's appearance will allow us to dress it up more like my daughter.”
然而，这些参与者还就当前远程机器人的外观作为支持工具提出了一些建议。在情感支持和信息方面，他们对缺乏人类特质的僵硬和机械化机器人形态感到不满。因此，他们建议增加更多类似人类和定制化的特征，使机器人能够更好地模拟人体特征（见图 9-A）。例如，埃伦的母亲（当地人）建议：“在机器人的外观上添加一个衣架将使我们能够更像我的女儿一样打扮它。”

Moreover, in terms of physical capabilities, many participants suggested adding hands or arms to robot bodies, which would allow for more nuanced interaction and practical assistance (See Figure 9-B). For example, Faith's mother (local) said: “The robot should have more human-like functions with delicately controllable arms and hands, allowing for more precise interactions.” They also wanted adjustable height options to accommodate interactions with babies or pets and the ability to control the robot's head angle to emulate bowing and nodding (See Figure 9-C). David's father (local) said: “Having more adjustable height and head angle control would be helpful for maintaining eye contact in various postures, including when interacting with babies or pets.” They perceived that implementing these enhancements could significantly improve the robot's ability to provide a more natural and comprehensive form of support.
此外，在身体能力方面，许多参与者建议为机器人身体添加手或手臂，这将允许更细致的互动和实用的帮助（见图 9-B）。例如，Faith 的母亲（当地人）表示：“机器人应该具有更多类似人类的功能，带有精细可控的手臂和手，以实现更精确的互动。” 他们还希望有可调节的高度选项，以适应与婴儿或宠物的互动，并能够控制机器人的头部角度以模拟鞠躬和点头（见图 9-C）。David 的父亲（当地人）表示：“拥有更多可调节的高度和头部角度控制对于在各种姿势下保持眼神交流是有帮助的，包括与婴儿或宠物互动时。” 他们认为实施这些增强措施可以显著提高机器人提供更自然和全面支持的能力。

5.1.1 Facilitating Flexible Control of Movement. Our study identified challenges in controlling collisions with furniture and navigating tight spaces and different floors within homes. To address these issues, we propose improving the robot's navigation system. This includes developing algorithms for path planning and obstacle recognition to support social capabilities [17, 61, 80], alongside equipping the robot with sensors like depth cameras and proximity sensors to avoid collisions in real-time [20, 25, 28].
5.1.1 促进灵活控制运动。我们的研究确定了在控制与家具碰撞以及在家庭内部的狭窄空间和不同楼层中导航方面的挑战。为了解决这些问题，我们提出改进机器人的导航系统。这包括开发路径规划和障碍物识别算法以支持社交能力[17, 61, 80]，同时配备深度摄像头和接近传感器等传感器，以避免实时碰撞[20, 25, 28]。

Furthermore, our study revealed a desire among remote family members for more intuitive control options to better concentrate on family interactions. To facilitate easier control of the robot, we recommend the integration of voice and gesture-based control mechanisms. Such controls would offer a more natural and seamless interaction experience, thereby enriching the engagement of both local and remote family members in their interactions, as suggested by prior work [77, 79]. Also, this could ensure inclusive family interactions that accommodate family members with special needs.
此外，我们的研究揭示了远程家庭成员希望有更直观的控制选项，以更好地专注于家庭互动的愿望。为了更容易地控制机器人，我们建议整合基于语音和手势的控制机制。这样的控制方式将提供更自然和无缝的互动体验，从而丰富本地和远程家庭成员在互动中的参与，正如之前的研究所建议的那样。此外，这可以确保包容性家庭互动，以满足有特殊需求的家庭成员。

Finally, our participants expressed concerns about battery life, particularly in the context of intensive physical activities. Therefore, we propose improving battery management through the integration of energy-efficient components and increased battery capacities.
最后，我们的参与者对电池续航能力表示担忧，特别是在进行密集体育活动时。因此，我们建议通过整合节能组件和增加电池容量来改善电池管理。

5.1.2 Simplifying the Initiation Process for Daily Use. In finding 4.3, some participants felt that the initiation process to connect with each other via the telepresence robot was overly complicated. This complexity may disrupt their ability to use the robot seamlessly within their natural daily routines.
5.1.2 简化日常使用的启动过程。在发现 4.3 中，一些参与者觉得通过远程机器人相互连接的启动过程过于复杂。这种复杂性可能会干扰他们在日常生活中无缝使用机器人的能力。

Furthermore, we observed that privacy concerns between local and remote family members were generally low, whereas concerns about external threats were high, which was consistent with findings in other contexts [40, 59, 78]. To address this, we propose simplifying access settings between local and remote family members. For example, simplified access modes, such as ‘always-on’ and ‘do not disturb’ modes to protect minimal privacy, could be helpful. Additionally, to address potential external threats to privacy, we recommend equipping telepresence robots with detachable or closable cameras to safeguard user privacy in domestic use.
此外，我们观察到本地和远程家庭成员之间的隐私关注通常较低，而对外部威胁的关注较高，这与其他情境中的研究结果一致[40, 59, 78]。为了解决这一问题，我们建议简化本地和远程家庭成员之间的访问设置。例如，简化的访问模式，如“始终开启”和“请勿打扰”模式以保护最低隐私，可能会有所帮助。此外，为了应对潜在的对隐私的外部威胁，我们建议为远程机器人配备可拆卸或可关闭的摄像头，以在家庭使用中保护用户隐私。

5.1.3 Supporting Multi-Remote User Scenarios. As highlighted in finding 4.3, some families even have more than one remote family member. To accommodate these dynamics, we recommend a multi-remote user interface that could allow concurrent family interactions involving multiple remote participants. However, some challenges may arise from managing UI complexity and conflicts during simultaneous control. To address this, we suggest implementing visual or audio cues to coordinate and identify the controller in multi-user scenarios.
5.1.3 支持多远程用户场景。正如在发现 4.3 中所强调的，一些家庭甚至有多个远程家庭成员。为了适应这些动态，我们建议采用多远程用户界面，可以允许涉及多个远程参与者的同时家庭互动。然而，在同时控制期间管理 UI 复杂性和冲突可能会带来一些挑战。为了解决这个问题，我们建议在多用户场景中实施视觉或音频提示来协调和识别控制器。

5.1.4 Considering the Versatility of Telepresence Robots. According to finding 4.3, our participants desired more household-friendly functions in telepresence robots besides communication tools. They recommended integrating with smart home devices and housework systems to enhance immersion in remote locations and transform the robot into a practical home tool. Building on a prior study that aimed to integrate distant partners’ lives with voice-activated smart home devices [75], we suggest integrating the telepresence robot's system with various smart home tools, enabling remote control of appliances and the execution of physical housework tasks. We believe that this integrated system can merge the daily lives on both families’ sides, allowing remote families to actively engage in the daily routines of their local families and cultivate a profound sense of belonging. This versatility of telepresence robots may facilitate their widespread adoption as a family tool.
5.1.4 考虑到远程机器人的多功能性。根据发现 4.3，我们的参与者希望远程机器人除了通讯工具外还具有更多家庭友好功能。他们建议将其与智能家居设备和家务系统集成，以增强在远程位置的沉浸感，并将机器人转变为实用的家庭工具。借鉴旨在将远程伙伴的生活与语音激活的智能家居设备整合的先前研究[75]，我们建议将远程机器人系统与各种智能家居工具整合，实现对家用电器的远程控制和执行物理家务任务。我们相信这一整合系统可以融合两个家庭的日常生活，使远程家庭能够积极参与当地家庭的日常生活，并培养一种深厚的归属感。远程机器人的这种多功能性可能促进其作为家庭工具的广泛采用。

5.1.5 Improving User Interface for Multi-Generational Family Interactions. In a family group with family members spanning multiple generations, adapting to controlling the robot could be challenging. As a result, we suggest enhancements to the user interface to make it easier to use and more intuitive for users of all generations. For instance, these enhancements may include visual cues, such as labeled buttons [14], infographics to indicate time differences and the incorporation of a speed control gauge. Further, to address safety concerns, a warning signal could be implemented to alert when recommended indoor speeds are exceeded, particularly for children driving [5]. This will be particularly beneficial for young children and older adult users who may have difficulty initiating and controlling the robot.
5.1.5 改进多代家庭互动用户界面。在一个跨越多代的家庭群体中，适应控制机器人可能是具有挑战性的。因此，我们建议改进用户界面，使其更易于使用，并对所有年龄段的用户更直观。例如，这些改进可能包括视觉提示，如标记的按钮[14]，信息图表以指示时间差异以及速度控制表的整合。此外，为了解决安全问题，可以实施警告信号以在建议的室内速度超过时发出警报，特别是对于驾驶的儿童[5]。这将特别有益于可能难以启动和控制机器人的幼儿和老年成年用户。

5.1.6 Strengthening Human-like Appearance and Functions. Based on finding 4.4, some participants expressed their dissatisfaction with the current robots’ simplistic appearance. As previous studies advocating friendly robot appearances and personalization through clothing [22, 69], we propose allowing users to customize the robot's appearance with features like hangers and dress-up options for a closer resemblance to distant family members. This approach has the potential to nurture stronger emotional connections and enhance the sense of presence during family communication facilitated by the robot. Furthermore, building on previous studies that have investigated the incorporation of arms into telepresence robots for collaborative gestures and physical actions [8, 66, 73], we believe that equipping the robot with human-like arms and hands will be a crucial improvement for enhancing its capabilities for family CMC tool. This addition may allow family members to engage in more nuanced and practical interactions during the telepresence robot-mediated family interactions.
5.1.6 加强人类化外观和功能。根据发现 4.4，一些参与者表达了对当前机器人简单外观的不满。正如之前的研究提倡友好机器人外观和通过服装个性化[22, 69]，我们建议允许用户通过挂钩和着装选项定制机器人外观，使其更接近远方家庭成员。这种方法有潜力培养更强的情感联系，并增强机器人在家庭交流中促进的存在感。此外，借鉴先前研究探讨将手臂整合到远程机器人中以进行协作手势和物理动作[8, 66, 73]，我们认为为机器人配备人类化的手臂和手部将是提升其作为家庭 CMC 工具能力的关键改进。这一补充可能使家庭成员在远程机器人介导的家庭互动中进行更加细致和实用的互动。

In addition, our finding 4.5 revealed limitations in engaging with children and pets, especially the challenges related to the restricted adjustability of the robot's height function. To enhance interactions for all family members, we recommend expanding the range of height adjustment options, given the emphasis of prior studies on the impact of height on awareness and communication processes [19, 23, 57].
此外，我们的研究发现 4.5 揭示了与儿童和宠物互动存在的局限性，尤其是与机器人高度功能受限调整相关的挑战。为了增强所有家庭成员之间的互动，我们建议扩大高度调整选项的范围，考虑到先前研究强调高度对意识和沟通过程的影响。【19, 23, 57】。