Human factors research has long focused on optimizing environments, tools, and systems to account for human performance. Yet, as humanoid robots begin to share our workplaces, homes, and public spaces, the design challenge expands. We must now consider not only factors for humans but also factors for humanoids, since both will coexist and interact within the same environments. Unlike conventional machines, humanoids introduce expectations of human-like behavior, communication, and social presence, which reshape usability, trust, and safety considerations. In this article, we introduce the concept of humanoid factors as a framework structured around four pillars - physical, cognitive, social, and ethical - that shape the development of humanoids to help them effectively coexist and collaborate with humans. This framework characterizes the overlap and divergence between human capabilities and those of general-purpose humanoids powered by AI foundation models. To demonstrate our framework's practical utility, we then apply the framework to evaluate a real-world humanoid control algorithm, illustrating how conventional task completion metrics in robotics overlook key human cognitive and interaction principles. We thus position humanoid factors as a foundational framework for designing, evaluating, and governing sustained human-humanoid coexistence.

翻译：长期以来，人因工程研究一直致力于通过优化环境、工具和系统来适应人类的行为表现。然而，随着仿生机器人开始进入我们的工作场所、家庭和公共空间，设计挑战也随之扩展。我们现在不仅需要考虑人类因素，还必须考虑仿生机器人因素，因为两者将在同一环境中共存并交互。与传统机器不同，仿生机器人引发了人们对类人行为、沟通和社交存在的期待，这重塑了可用性、信任和安全方面的考量。本文提出“类人因素”这一概念作为一个框架，围绕物理、认知、社会和伦理四大支柱构建，旨在指导仿生机器人的开发，以促进其与人类有效共存和协作。该框架刻画了人类能力与由AI基础模型驱动的通用仿生机器人能力之间的重叠与差异。为展示本框架的实际效用，我们将其应用于评估一个真实世界的仿生机器人控制算法，说明机器人学中传统的任务完成度量如何忽视了关键的人类认知与交互原则。因此，我们将类人因素定位为一个基础框架，用于设计、评估和治理持续的人机共存。