随着机器人技术的快速发展，机器人越来越多地走进了人们的日常生活。同工业机器人不同，人们对生活中所需的机器人会具有一些不同于工业机器人的期待。而这些期待，给机器人交互设计带来了新的课题。本论文尝试从多个研究方向开展学科交叉研究工作，并尝试针对具有社交的机器人交互设计提出一般性的设计方法。本文的研究主要聚焦在三个研究问题上，即：1）设计研究方法如何指导机器人交互设计？2）如何设计易被接受和受人喜爱的社交机器人及其应用？以及3）如何在人与机器人交互设计中通过表达性界面设计创建新的机器人交互范例？围绕以上三个研究问题，本文通过如下结构来展开论述。论文首先论述了社交机器人与设计学科之间的共同关注点,并阐述了机器人交互和表达性界面设计中的问题空间。随后，对论文结构进行了概述并作了简要说明。其次，对社交机器人的最新发展状况进行了综述，这些相关研究工作对于理解如何设计机器人交互应用非常重要。机器人交互的进一步研究，将取决于影响人类对机器人感知与接受程度的各种因素，以及人类在与机器人互动过程中的空间关系中能够在多大程度上舒适行动等等方面。考虑到这一点，一些重要因素，例如恐怖谷问题、距离感、共情、信任、专注度和情感设计等等诸多问题，均在在本章中尝试进行展开论述。论文试图基于“通过设计研究”（Research through Design, RtD）方法构建研究的概念框架。基于这一方法论，论文提出一种面向社交机器人交互设计的通用设计模型——“ABC模型”。ABC模型从机器人外观、行为模式，以及能力这三个设计维度对社交机器人交互设计进行分析和构建。其后，通过案例研究的方法，分析了机器人交互设计实践的三个代表案例：1）基于跨文化视角的人型机器人问候手势设计； 2）基于人体仿生结构的人型机器人设计； 3）基于移动机器人和无线充电器功能的自主看护行为设计。接下来，针对本研究工作进行了整体分析，并提出了相关讨论，同时还指出了本研究的过程中，以及结果中存在的一系列局限性。人们需要引人入胜的互动，从而带来有意义的用户体验。体验可以与机器人的功能或可用性相关。有效了解人们在互动过程中的情绪可以帮助创建令人愉悦的和更易被接受的机器人。因此，设计方法可以成为社交机器人交互研究的有效工具。最后，总结全文，并讨论了在社交机器人交互领域中，今后潜在的研究方向。

With the rapid development of robotics technology, more and more robots have entered into people‘s daily lives. Unlike industrial robots, people have different expectations from industrial robots for companion robots or social robots. These expectations have brought new issues to the robot interaction design.This thesis attempts to carry out interdisciplinary research work from multiple research directions and tries to propose a general design method for the social robot interaction design. The research of this thesis mainly focuses on three research questions, namely: 1） How do design research methods guide robot interaction design? 2） How to design social robots and their applications that are easy to accept and beloved? And 3） How to create a new robot interaction paradigm through expressive interface design in human-robot interaction design? By focusing on the above three research questions, this thesis uses the following structure to expand the description.Firstly, the common concerns between social robots and design disciplines has discussed to provide the basis of this research. It also expounds the problem space in the design of robot interaction and expressive interface. Afterward, the structure of the thesis was summarized and briefly explained. Secondly, the latest development status of social robots is reviewed. This related research work is very important for understanding how to design robot interactive applications.Further research on robot interaction will depend on various factors that affect human perception and acceptance of robots, as well as the extent to which humans can act comfortably in the spatial relationship during the interaction with robots. With this in mind, some important factors, such as the uncanny valley, distance, empathy, trust, concentration, and emotional design, etc., are all discussed in thisthesis.The thesis attempts to build a conceptual framework for research based on the ＂Research through Design＂ （RtD） method. Based on this methodology, the thesis proposes a universal design model for robot social interaction design-the ＂ABC Model＂. The ABC model analyzes and constructs the robot‘s social interaction design from three design dimensions: Appearance, Behavior, and Capability.Then, through the method of case study, three representative cases of robot interaction design practice are analyzed: 1） Humanoid robot greeting gesture design from a cross-cultural perspective; 2） Humanoid robot design based on human anatomy structure; 3） A self-care robot design based on a mobile robot and wireless charging capability.Thirdly, the overall analysis of this research work is carried out, and related discussions are put forward. At the same time, it also points out a series of limitations in the process and results of this research.People need fascinating interactions to bring a meaningful user experience. The experience can be related to the function or usability of the robot. Effectively understanding people’s expressive behavior during interaction can help create pleasant and more acceptable robots. Therefore, the social interaction design method can become an effective tool for robot interaction research.Finally, the research results are summarized, and the potential future research directions in the field of robot emotional interaction are discussed.