As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design pedagogy designed to support engineers in creating expressive robotic arm movements. Through a hands-on interactive workshop informed by interdisciplinary methodologies, participants explored various creative possibilities, generating valuable insights into expressive motion design. The iterative approach proposed integrates analytical frameworks from dance, enabling designers to examine motion through dynamic and embodied dimensions. A custom manual remote controller facilitates interactive, real-time manipulation of the robotic arm, while dedicated animation software supports visualization, detailed motion sequencing, and precise parameter control. Qualitative analysis of this interactive design process reveals that the proposed "toolbox" effectively bridges the gap between human intent and robotic expressiveness resulting in more intuitive and engaging expressive robotic arm movements.

翻译：随着机器人日益融入人类共享空间，其运动必须超越基本功能，融入表现性特质以增强交互体验与沟通效能。本文提出一种以运动为核心的设计教学方法，旨在帮助工程师创造具有表现力的机械臂运动。通过基于跨学科方法的实践性互动工作坊，参与者探索了多种创新可能性，为表现性运动设计提供了重要洞见。所提出的迭代方法整合了舞蹈领域的分析框架，使设计者能够从动态与具身化维度审视运动过程。定制的手动遥控器实现了机械臂的交互式实时操控，专用动画软件则支持运动可视化、精细动作序列编排及精确参数调控。对这一交互设计过程的定性分析表明，所提出的"工具箱"有效弥合了人类意图与机器人表现力之间的鸿沟，从而创造出更直观、更具吸引力的表现性机械臂运动。