摘要：Interaction with Cyber physical systems (CPSs) greatly differ from traditional human computer interaction. A theory that could explain multi-aspect interaction with cyber physical systems and would facilitate the implementation of highly interactive CPSs is needed. This paper tries to make the first steps in this direction and to provide insights for a necessary new theory. Four kinds of interaction which play a crucial role in the operation of CPSs and four fundamental aspects of interaction (i.e. levels, domains, contexts and modalities) are introduced. The theory explains both the aspects and the various constituents that should be considered. The novelty of the theory is in that it establishes relationships between the four aspects and supports the specification of wishful interaction profiles. Finally, a practical case of robot assisted smart bathroom is used to show how the theory can systematize and rationalize the designing of interaction with CPSs.
