Mobile service robots have become increasingly ubiquitous. However, these robots can pose potential accessibility issues and safety concerns to people with visual impairments (PVI). We sought to explore the challenges faced by PVI around mainstream mobile service robots and identify their needs. Seventeen PVI were interviewed about their experiences with three emerging robots: vacuum robots, delivery robots, and drones. We comprehensively investigated PVI's robot experiences by considering their different roles around robots -- direct users and bystanders. Our study highlighted participants' challenges and concerns about the accessibility, safety, and privacy issues around mobile service robots. We found that the lack of accessible feedback made it difficult for PVI to precisely control, locate, and track the status of the robots. Moreover, encountering mobile robots as bystanders confused and even scared the participants, presenting safety and privacy barriers. We further distilled design considerations for more accessible and safe robots for PVI.
翻译：移动服务机器人越来越无处不在。 但是,这些机器人可能会给视力受损者带来潜在的无障碍问题和安全关切。 我们试图探索PVI在主流移动服务机器人方面所面临的挑战,并查明他们的需要。 17个PVI接受了采访,讲述了他们与3个新兴机器人的经验:真空机器人、投递机器人和无人机。 我们全面研究了PVI的机器人经验,考虑了他们围绕机器人的不同作用 -- -- 直接用户和旁观者。 我们的研究强调了与会者在移动服务机器人的无障碍、安全和隐私问题方面面临的挑战和关切。 我们发现,由于缺乏无障碍反馈,PVI难以准确控制、定位和跟踪机器人的状况。 此外,我们遇到了像旁观者混淆甚至吓唬了参与者的移动机器人,从而提出了安全和隐私障碍。 我们还为PVI更方便和安全的机器人进一步提出了设计考虑。
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