The question of reacting to harm incurred by a human companion would be better answered if the action that the animals observe appeared to be harm such as a mock assault where the companion appears to be in pain as a result of the active participant e.g. the active participant appears to punch the companion in the belly without actually making contact such that the companion falls to the ground reeling in false pain. The Japanese study linked in the article discusses this possibility in its “Discussion” section.
> It is conceivable that the cats in this study did not understand the meaning or goal of the owners’ behavior (attempting to open the container to get the object inside). To our knowledge, cats’ ability to recognize others’ goals or intentions from their actions has not been investigated. But even if they did understand the owner’s goal or intention, they might have failed to detect the negative intention of the non-helpful actor (deliberately withholding assistance). Further studies would be valuable for testing alternative third-party evaluation situations and for clarifying whether cats recognize others’ goals or intentions. [0]
[0] http://animalbehaviorandcognition.org/uploads/journals/30/AB...