用混合现实实现远程人机操控，解决延迟下的稳定与透明性问题
Stability and Transparency in Mixed Reality Bilateral Human Teleoperation
- 构建数学模型分析混合现实远程操控系统
- 200毫秒内可用三通道操控实现稳定透明
- 大延迟下需本地姿态与力反馈的建模中继方案
近期提出的人类远程操控（HT）概念中，传统双端遥操作中的远程机器人被佩戴混合现实头显的新手取代，其通过追踪专家控制的虚拟工具运动来参与操作。该方法在资源匮乏地区或偏远地区开展远程医疗时具有成本低、复杂度小和患者接受度高等优势。然而，目前尚缺乏对双端HT系统的稳定性、透明度及性能的研究。本文基于测试数据建立HT系统的数学模型与仿真，分析多种控制架构，并在实际系统中实现以评估性能、探究稳定性，确定在存在时间延迟时最具潜力的遥操作方案。研究发现，尽管HT系统失稳不会造成破坏或危险，但会使其无法使用；而在小于200毫秒的时间延迟下，通过三通道遥操作可实现稳定且透明的操作；在大延迟情况下，则可通过引入建模中继并结合新手本地姿态与力反馈的方式达成稳定透明的操控。
原文摘要 · Abstract (English)
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the motion of a virtual tool controlled by an expert. HT has advantages in cost, complexity, and patient acceptance for telemedicine in low-resource communities or remote locations. However, the stability, transparency, and performance of bilateral HT are unexplored. In this paper, we therefore develop a mathematical model and simulation of the HT system using test data. We then analyze various control architectures with this model and implement them with the HT system to find the achievable performance, investigate stability, and determine the most promising teleoperation scheme in the presence of time delays. We show that instability in HT, while not destructive or dangerous, makes the system impossible to use. However, stable and transparent teleoperation are possible with small time delays (<200 ms) through 3-channel teleoperation, or with large time delays through model-mediated teleoperation with local pose and force feedback for the novice.
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