目的 以机器人交互设计为研究对象，结合通过设计进行研究的思维方式对参与式设计视角下的参与主体、进程、工具及产出的设计知识进行明确的梳理和分析，在提升参与式设计的有效性的同时，推动抗解问题的解决。方法 从三个维度厘清机器人交互设计中的参与要素，包括参与主体及角色、通过设计进行研究的实验类型和基于设计阶段的参与工具，综合探讨通过设计进行研究思维方式在理解机器人角色、伦理问题和个性化特征等方面所发挥的作用。结果 得出通过设计进行研究思维方式对多学科跨界交流、拓展机器人交互设计的边界、开发创新性的参与方法及探索“设计最优解”带来的影响。结论 从参与者的选取，到研究目标驱动的实验流程设计，再到基于设计阶段的参与工具选择，帮助研究者提升参与式设计有效性的同时，实现通过设计进行研究思维方式下机器人交互设计的跨学科的沟通。

This paper examines human-robot interaction (HRI), employing Research through Design (RtD) thinking to clarify and analyze design knowledge related to participants, processes and tools, and the type of knowledge produced. This can enhance participation in participatory design and help solve wicked problems. In this paper, participation elements in HRI were classified into three dimensions, including participants and roles, typology of RtD experiments, and tools of participation based on design phases. The role of RtD thinking in understanding robot roles, ethical issues, and personalized characteristics was discussed. The effect of RtD thinking on HRI in terms of cross-border multidisciplinary communication, expanding the boundaries of robot interaction design, creating participation methods, and exploring "what is the right thing" in design were obtained. The categories of articles range from selecting participants to designing experimental processes driven by research objectives, to selecting design stage-based participation tools, that aim to enhance the effectiveness of participatory design, while facilitating interdisciplinary communication of HRI design based on RtD thinking.