开发可穿戴辅助接口，让行动不便者更轻松操控家用机器人。
Towards Wearable Interfaces for Robotic Caregiving
- 设计头戴式遥控装置HAT，支持主动控制与共享控制算法。
- 共享控制降低用户负荷，提升操作效率与舒适度。
- 引入被动控制，通过隐式信号感知实现自然交互，适合老年人或残障人士。
家庭环境中具备物理辅助能力的机器人可提升残障人士的自主性，帮助其完成自我照护和家务任务。然而，现有接口对行动受限人群使用困难，亟需新型交互方式。本文提出并评估了一种名为HAT（Head-Worn Assistive Teleoperation）的主动控制可穿戴接口，以应对用户操作负荷问题。为此，我们设计并验证了一种名为Driver Assistance的共享控制算法。此外，引入被动控制概念，即通过可穿戴设备检测用户的隐式生理或行为信号，自动引导机器人执行照护任务，旨在减轻用户负担的同时保持对系统的掌控感。
原文摘要 · Abstract (English)
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing interfaces challenging to use, highlighting the need for novel interfaces that can effectively support them. In this work, we present insights on the design and evaluation of an active control wearable interface named HAT, Head-Worn Assistive Teleoperation. To tackle challenges in user workload while using such interfaces, we propose and evaluate a shared control algorithm named Driver Assistance. Finally, we introduce the concept of passive control, in which wearable interfaces detect implicit human signals to inform and guide robotic actions during caregiving tasks, with the aim of reducing user workload while potentially preserving the feeling of control.
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