通过增强现实辅助，让非专业人士更直观地操控机械臂。
Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation
- 用AR实时显示人机动作差异，帮助用户感知偏差。
- 支持视角切换和动作空间扩展，提升操作自由度。
- 适合机器人交互、人机协作等场景的开发者参考。
具身化交互被引入人-机器人交互（HRI）作为一种远程操作方式，用户通过手持控制器或触觉手套以身体动作控制机械臂。这种具身化远程操作使非技术人员也能直观操控机器人，但人类与机器人在运动范围、响应时间等方面的差异仍具挑战性。为此，我们提出Arm Robot系统，一种具身化机械臂远程操控系统，旨在帮助用户克服人机能力差异。具体而言，该系统（1）引入增强现实（AR）可视化，实时反馈时间与空间上的偏差；（2）支持用户切换观察视角并扩展动作空间。我们通过一项用户研究（N=18）评估了系统的可用性，并探究用户对具身感的认知。结果表明，用户能有效利用系统功能完成机械臂控制，为后续具身化人机交互研究提供了重要启示。
原文摘要 · Abstract (English)
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot control intuitive to non-technical users, but differences between humans' and robots' capabilities \eg ranges of motion and response time, remain challenging. In response, we present Arm Robot, an embodied robot arm teleoperation system that helps users tackle human-robot discrepancies. Specifically, Arm Robot (1) includes AR visualization as real-time feedback on temporal and spatial discrepancies, and (2) allows users to change observing perspectives and expand action space. We conducted a user study (N=18) to investigate the usability of the Arm Robot and learn how users perceive the embodiment. Our results show users could use Arm Robot's features to effectively control the robot arm, providing insights for continued work in embodied HRI.
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