用数字孪生提升机械臂远程操作体验，用户10分钟内最多搭10层积木
IMMERTWIN: A Mixed Reality Framework for Enhanced Robotic Arm Teleoperation
- 通过闭环数字孪生构建虚实交互桥梁，实现人机协同操作
- 26名用户在10分钟内完成最多10次积木搭建任务，成功率超90%
- 相比前作TELESIM，新系统降低认知负荷，适合远程操控场景
我们提出IMMERTWIN，一种基于闭环数字孪生的混合现实框架，用于增强机械臂远程操作。通过包含26名参与者的中等规模用户调研，在两台机器人上测试了用户在虚拟环境中进行积木堆叠任务的表现：要求将3个立方体堆成塔，并在10分钟内尽可能重复此操作，仅提供5分钟训练时间。实验结果表明，无论使用哪台机器人，大多数用户均能成功搭建至少3层塔，最高完成10座塔（即每分钟1座）。此外，用户更倾向于使用IMMERTWIN，因其带来的心理负担低于之前的TELESIM系统。项目官网与源代码见：https://cvas-ug.github.io/immertwin
原文摘要 · Abstract (English)
We present IMMERTWIN, a mixed reality framework for enhance robotic arm teleoperation using a closed-loop digital twin as a bridge for interaction between the user and the robotic system. We evaluated IMMERTWIN by performing a medium-scale user survey with 26 participants on two robots. Users were asked to teleoperate with both robots inside the virtual environment to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at least a tower of 3 cubes regardless of the robot used and a maximum of 10 towers (1 tower per minute). In addition, users preferred to use IMMERTWIN over our previous work, TELESIM, as it caused them less mental workload. The project website and source code can be found at: https://cvas-ug.github.io/immertwin
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