Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel, research in robotic furniture, swarm robotics, and shape-changing spaces shows that architectural elements can now be robotically augmented to move, reconfigure, and adapt space. We propose that these advances promise a paradigm shift in HBI, in which multiple building layers physically adapt in synchrony to support occupant needs and sustainability goals more holistically. Conversely, we argue that this emerging paradigm also provides an ideal case for transferring HRI knowledge to unconventional robotic morphologies, including the interpretation of the robot as multiple architectural layers or even as a building. However, this research agenda remains challenged by the temporal, spatial, and social complexity of architectural HRI, and by fragmented knowledge across HCI, environmental psychology, cognitive science, and architecture. We therefore call for interdisciplinary research that unifies the why, what, and how of robotic actuation in architectural forms.

翻译：近年来，在传感、通信、界面、控制和机器人技术方面的进展，正将人-建筑交互（HBI）从自适应建筑服务和立面，扩展到对建筑空间的物理驱动。与此同时，关于机器人化家具、群体机器人技术和形态可变空间的研究表明，建筑元素现在可以通过机器人技术增强，以实现移动、重新配置和空间适应。我们提出，这些进展预示着人-建筑交互领域将发生范式转变，其中多个建筑层能够物理同步适应，从而更整体地支持居住者需求和可持续性目标。反之，我们认为这一新兴范式也为将人机交互（HRI）知识迁移到非传统的机器人形态（包括将机器人理解为多个建筑层，甚至是一座建筑）提供了一个理想的案例。然而，这一研究议程仍面临建筑人机交互在时间、空间和社会复杂性方面的挑战，以及人机交互、环境心理学、认知科学和建筑学等领域知识碎片化的障碍。因此，我们呼吁开展跨学科研究，以统一建筑形态中机器人驱动的"为何"、"何为"与"如何实现"。