How Users, Facility Managers, and Bystanders Perceive and Accept a Navigation Robot for Visually Impaired People in Public Buildings
Seita Kayukawa, Daisuke Sato, Masayuki Murata, Tatsuya Ishihara, Akihiro Kosugi, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa

Blind Participants' Comments
(* indicates comments that are not shown in our paper.)
Index
Visibility Concerns
It is great that the robot looks stylish. I thought the robot would look more like a navigation machine, but it looks like a natural-looking suitcase and cool. I prefer looking natural and to not to be recognized as visually impaired. If the robot looked unsophisticated or conspicuous, I would not want to use it, but I love that this robot is natural.
P1
*I do not want to emphasize that I am visually impaired. I'm trying to live so that I do not look visually impaired. It is great that the design of the robot is based on a suitcase and is natural and modest.
P2
*It is good that this suitcase-shaped robot may not make me look like a visually impaired person, unlike when walking with a guide dog, which may make it obvious.
P6
I do not use a white cane as a symbol of visual impairment. I use it as a necessary aid for walking. If I can feel safe with the suitcase, I would trust it and walk without the cane.
P3
*I usually walk with a white cane. I'm using a white cane for a walking aid and making people aware I am visually impaired. I think that the suitcase-shaped robot looks cool, but I'm a little worried about the surrounding people not noticing me. I want to show that I have a visual impairment in some way. For example, designing a new symbol for suitcase robots and putting it as a sticker on the robot and promoting the symbol such as through SNS.
P4
While I understand that some people with visual impairments (PVI) don't want to emphasize that they are visually impaired, I also realize the advantage of it. For example, when I am walking with my guide dog, surrounding people sometimes ask me, "do you want some assistance?"
P8
When I get into an accident such as a collision with someone, if they are aware that I am visually impaired, it can reduce the possibility of me being in trouble.
P11
When I bump into someone, it is important to show that I am visually impaired. If I have a white cane, the person may apologize, so I can feel safe.
P12
Safety Concerns
I think there is less risk of collision in a place like today's place (office environment). However, I wondered how the robot would behave in crowded situations such as stations during rush hours.
P12
*Because the suitcase slowed down its speed when it moved near walls and people, I was not concerned about endangering surrounding people.
P4
*I folded the white cane away and walked with the robot. If I were also using the white cane, I would have concerns that both hands are busy. So, I would not use a white cane while walking with the robot.
P2
*I think I would not use the cane while walking with the robot. I want to move about by putting one hand on the robot and keeping the other hand free because I don't want both of my hands busy.
P10
*I hope I can fold away my white cane because I do not want both to be hands busy. If the robot can be trusted to also recognize gaps, I want to walk without a cane.
P6
Privacy Concerns
Surveillance cameras are widely used and accepted because the usages of these cameras are understood by society. Similarly, the suitcase's camera will be accepted if surrounding people understand that the camera is used for assisting PVI.
P7
*If surrounding people do not understand that the camera on the suitcase is necessary for supporting PVI, there is a concern that people will misunderstand the usage of the camera and the user might get into trouble. I hope the system will be widely used, and surrounding people will understand the usage of the camera.
P3
If surrounding people will be concerned about privacy and so on, I think it might be better to clarify the usage of the camera on the suitcase.
P5
Prospective Scenarios for Autonomous Navigation Robots
*I hope I can walk around the neighborhood by using the robot. Visually impaired people walk to clearly defined destinations by preparing in advance well or utilizing some tool. I want to use the robot for taking a walk without a specific destination. The robot has a great advantage in that I can walk alone without having to worry about anyone else.
P3
*I want to do window shopping while listening to surrounding information at a shopping mall. I can do some shopping if someone helps me, but I feel sorry asking when I do not have specific purpose. By using the suitcase, I want to walk freely in a shopping mall by myself and do window shopping.
P2
*When I usually move about, I think only about `which intersection to turn at' or `which traffic light to turn at.' With the guidance of the robot, I want to walk while sensing the surrounding atmosphere and information.
P4