将操纵杆输入动态映射到机器人6维运动，提升辅助机器人的易用性。
Giving Sense to Inputs: Toward an Accessible Control Framework for Shared Autonomy
- 通过轨迹上的控制帧动态映射2D输入为6D动作
- 20人实验显示工作量降低，可用性显著提升
- 适配轮椅用户，支持日常与创意任务操作
共享自主在辅助机器人中潜力巨大，但如何将2维控制输入有效映射为6维机器人运动仍是关键问题。理想的框架应使用户能自然输入指令，机器人按预期响应，无需预判输入影响。本文提出一种动态输入映射框架，将操纵杆移动与沿由狭缝曲面编码的轨迹定义的控制帧关联。在20名参与者用户研究中，该方法相比基线映射在相似运动编码下显著降低工作负荷并提升可用性。为适配辅助场景，我们借鉴无障碍游戏社区成果，选择可及性高的控制接口，并在探索性研究中让3位轮椅用户完成日常生活活动与绘画任务，验证了系统对目标人群的可行性。
原文摘要 · Abstract (English)
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly, with the robot responding as expected, without users needing to anticipate the impact of their inputs. In this article, we propose a dynamic input mapping framework that links joystick movements to motions on control frames defined along a trajectory encoded with canal surfaces. We evaluate our method in a user study with 20 participants, demonstrating that our input mapping framework reduces the workload and improves usability compared to a baseline mapping with similar motion encoding. To prepare for deployment in assistive scenarios, we built on the development from the accessible gaming community to select an accessible control interface. We then tested the system in an exploratory study, where three wheelchair users controlled the robot for both daily living activities and a creative painting task, demonstrating its feasibility for users closer to our target population.
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