Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual understanding, collaboration becomes less effective, degrading user experience and task performance. To address this gap, previous studies have explicitly conveyed the robot intent through additional interfaces, which remain unintuitive and limited in expressiveness. Inspired by impedance control, we propose Impedance-Driven Anisotropic Guidance Field Enhanced Shared Autonomy (IAGF-SA), a novel paradigm that extends SA with an embodied, physically-grounded communication channel. This channel adaptively modulates the robot's dynamic response to human input, enabling intuitive, continuous, physically-grounded robot intent communication while naturally guiding human actions. User studies across three scenarios and two teleoperation interfaces indicate that IAGF-SA improves task performance, human-robot agreement, and subjective experience, thus demonstrating its effectiveness in enhancing human-robot communication and collaboration.

翻译：共享自主性（SA）使机器人能够推断人类意图并协助实现该意图。尽管多数研究聚焦于改进意图推断，却忽视了人类能否反过来理解机器人的意图。若缺乏这种相互理解，协作效率将降低，导致用户体验和任务性能下降。为填补这一空白，以往研究通过额外界面显式传递机器人意图，但这些方法仍存在直觉性不足及表达能力有限的问题。受阻抗控制启发，我们提出基于阻抗驱动的各向异性引导场增强共享自主性（IAGF-SA）这一新型范式，该范式通过具身化、基于物理的通信通道扩展了SA。该通道自适应调节机器人对人类输入的动态响应，在自然引导人类行为的同时，实现直观、连续且基于物理的机器人意图通信。跨三个场景及两种遥操作界面的用户研究表明，IAGF-SA提升了任务性能、人机一致性及主观体验，从而验证了其在增强人机通信与协作方面的有效性。