用AR可视化人体动作映射，让机器人操作更直观。
Assisting MoCap-Based Teleoperation of Robot Arm using Augmented Reality Visualisations
- 通过动作捕捉与AR叠加虚拟人体臂，实现人机动作对齐。
- 用户在相同朝向的虚拟臂辅助下学习控制效率显著提升。
- 适合需要精准远程操控机器人的工业或医疗场景。
遥控机械臂需操作者定位末端执行器或逐关节编程。由于外部机器人臂的朝向和外观与人体不一致，难以像操控自身肢体一样自然。本文研究基于动作捕捉（MoCap）的人体臂数据，结合增强现实（AR）可视化，通过在机器人臂上叠加与人体同向的虚拟人体臂参考，帮助操作者理解动作映射关系。实验发现，当虚拟臂与机器人臂保持相同朝向时，用户能更快掌握控制逻辑。研究讨论了该方法的成效及未来在基于动作捕捉的机器人遥操作中的应用前景。
原文摘要 · Abstract (English)
Teleoperating a robot arm involves the human operator positioning the robot's end-effector or programming each joint. Whereas humans can control their own arms easily by integrating visual and proprioceptive feedback, it is challenging to control an external robot arm in the same way, due to its inconsistent orientation and appearance. We explore teleoperating a robot arm through motion-capture (MoCap) of the human operator's arm with the assistance of augmented reality (AR) visualisations. We investigate how AR helps teleoperation by visualising a virtual reference of the human arm alongside the robot arm to help users understand the movement mapping. We found that the AR overlay of a humanoid arm on the robot in the same orientation helped users learn the control. We discuss findings and future work on MoCap-based robot teleoperation.
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