The use of autonomous systems in medical evacuation (MEDEVAC) scenarios is promising, but existing implementations overlook key insights from human-robot interaction (HRI) research. Studies on human-machine teams demonstrate that human perceptions of a machine teammate are critical in governing the machine's performance. Here, we present a mixed factorial design to assess human perceptions of a MEDEVAC robot in a simulated evacuation scenario. Participants were assigned to the role of casualty (CAS) or bystander (BYS) and subjected to three within-subjects conditions based on the MEDEVAC robot's operating mode: autonomous-slow (AS), autonomous-fast (AF), and teleoperation (TO). During each trial, a MEDEVAC robot navigated an 11-meter path, acquiring a casualty and transporting them to an ambulance exchange point while avoiding an idle bystander. Following each trial, subjects completed a questionnaire measuring their emotional states, perceived safety, and social compatibility with the robot. Results indicate a consistent main effect of operating mode on reported emotional states and perceived safety. Pairwise analyses suggest that the employment of the AF operating mode negatively impacted perceptions along these dimensions. There were no persistent differences between casualty and bystander responses.

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