Group interactions are essential to social functioning, yet effective engagement relies on the ability to recognize and interpret visual cues, making such engagement a significant challenge for blind people. In this paper, we investigate how a mobile robot can support group interactions for blind people. We used the scenario of a guided tour with mixed-visual groups involving blind and sighted visitors. Based on insights from an interview study with blind people (n=5) and museum experts (n=5), we designed and prototyped a robotic system that supported blind visitors to join group tours. We conducted a field study in a science museum where each blind participant (n=8) joined a group tour with one guide and two sighted participants (n=8). Findings indicated users' sense of safety from the robot's navigational support, concerns in the group participation, and preferences for obtaining environmental information. We present design implications for future robotic systems to support blind people's mixed-visual group participation.

翻译：团体互动是社会功能的核心要素，然而有效参与依赖于识别与解读视觉线索的能力，这使得此类互动对盲人构成显著挑战。本文研究移动机器人如何支持盲人的团体互动。我们以包含盲人与视力正常参观者的混合视觉团体导览为研究场景。基于对盲人（n=5）与博物馆专家（n=5）的访谈研究，我们设计并原型开发了一个支持盲人参与团体导览的机器人系统。我们在科学博物馆开展了实地研究，每位盲人参与者（n=8）与一名讲解员及两名视力正常参与者（n=8）共同完成团体导览。研究发现揭示了用户从机器人导航支持中获得的安全感、团体参与中的顾虑，以及对获取环境信息的偏好。本文提出了未来机器人系统支持盲人参与混合视觉团体活动的设计启示。