梳理软体机器人人机交互现状与挑战，为协作发展指明方向
Soft is Safe: Human-Robot Interaction for Soft Robots
- 从控制、材料到人机接口，系统分析软体机器人交互基础
- 总结现有输入输出模态及典型应用场景，揭示技术缺口
- 面向工业5.0协作需求，提出人机交互关键研究机会
随着机器人在社会中日益普及，人机交互（HRI）变得愈发重要。近年来，软体机器人领域在科研与商业化方面均取得显著进展，而工业5.0强调人机协同，进一步推动了该领域的发展。然而，软体机器人的人机交互仍处于初级阶段。本文首先综述软体机器人的控制、设计、材料与制造，以理解交互对象的本质；接着讨论用于人机交互的各种输入与输出模态；详细分析文献中已有的应用案例；最后深入探讨当前存在的局限性及未来研究机遇。结论指出，软体机器人的人机交互领域仍有巨大发展空间。
原文摘要 · Abstract (English)
With the presence of robots increasing in the society, the need for interacting with robots is becoming necessary. The field of Human-Robot Interaction (HRI) has emerged important since more repetitive and tiresome jobs are being done by robots. In the recent times, the field of soft robotics has seen a boom in the field of research and commercialization. The Industry 5.0 focuses on human robot collaboration which also spurs the field of soft robotics. However the HRI for soft robotics is still in the nascent stage. In this work we review and then discuss how HRI is done for soft robots. We first discuss the control, design, materials and manufacturing of soft robots. This will provide an understanding of what is being interacted with. Then we discuss about the various input and output modalities that are used in HRI. The applications where the HRI for soft robots are found in the literature are discussed in detail. Then the limitations of HRI for soft robots and various research opportunities that exist in this field are discussed in detail. It is concluded that there is a huge scope for development for HRI for soft robots.
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