Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous systems may reduce users' sense of control, even when they wish to remain actively involved. Although collaboration between user and robot has been recognized as important, little is known about how perceptions of this relationship change with repeated use. We present a repeated exposure study with six blind participants who interacted with a navigation-assistive robot in a real-world museum. Participants completed tasks such as navigating crowds, approaching lines, and encountering obstacles. Findings show that participants refined their strategies over time, developing clearer preferences about when to rely on the robot versus act independently. This work provides insights into how strategies and preferences evolve with repeated interaction and offers design implications for robots that adapt to user needs over time.

翻译：自主性与独立导航能力对日常生活至关重要，但对于视障人士而言仍具挑战性。机器人系统通过提供智能导航辅助，能够提升行动能力与自信心。然而，完全自主的系统可能削弱用户对控制的感知，即便他们希望保持主动参与。尽管人机协作的重要性已得到认可，但关于这种关系感知如何随重复使用而变化的认知仍显不足。本研究开展了一项重复暴露实验，六名视障参与者在真实博物馆场景中与导航辅助机器人进行交互。参与者完成了包括人群穿行、队列接近及障碍物应对等任务。研究发现，参与者随时间推移不断优化策略，对何时依赖机器人或自主行动形成了更明确的偏好。这项工作揭示了策略与偏好如何随重复交互而演变，并为设计能随时间适应用户需求的机器人系统提供了启示。