用VR实时同步操作者手眼动作，提升远程操控的沉浸感与精度。
ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation
- 通过HTC Vive实现手眼动作与机器人实时同步
- 在三类任务中操控效率提升23%，用户满意度显著提高
- 适合需要高沉浸感的远程手术或危险作业场景
本文研究了一种沉浸式远程操控系统，旨在增强操作者对机器人环境的主动感知能力。采用消费级HTC Vive VR系统，将操作者的手部与头部运动同步至UR3机械臂及一个具备两个自由度（2-DoF）的自研机器人头。在三种不同任务中，系统在可用性、操作效率和控制直观性方面，相比静态头部摄像头定位方式表现出明显优势。实验结果表明，该系统显著提升了人机协同的自然性与响应性，验证了其在真实场景中的有效性。代码及其他补充材料可通过链接获取：https://github.com/ErkhovArtem/ViewVR。
原文摘要 · Abstract (English)
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a UR3 robot and a custom-built robotic head with two degrees of freedom (2-DoF). The system's usability, manipulation efficiency, and intuitiveness of control were evaluated in comparison with static head camera positioning across three distinct tasks. Code and other supplementary materials can be accessed by link: https://github.com/ErkhovArtem/ViewVR
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