在虚拟现实里加触觉反馈，能提升机器人数据采集的精度和体验。
Beyond Visuals: Investigating Force Feedback in Extended Reality for Robot Data Collection
- 在两种虚拟现实操控界面中加入触觉反馈，提升操作真实感。
- 高精度任务中，触觉反馈使操作表现提升23%，用户满意度显著提高。
- 适合做人机协作、远程操控机器人数据采集的研究者参考。
本研究探讨了在扩展现实（XR）环境中，触觉反馈对机器人数据采集的影响。尽管触觉反馈已被证实能增强用户体验，但其在机器人数据采集中的作用尚未得到充分关注。本文通过大规模用户实验，考察了在不同任务下触觉反馈的效果。研究扩展了两种基于XR的机器人控制接口——运动感知教学与动作控制器，加入了触觉反馈功能。实验任务涵盖从简单抓取放置到复杂插销装配等操作，要求高精度执行。结果表明，触觉反馈显著提升了任务表现与用户满意度，尤其在高精度任务中效果更明显，且影响程度随控制界面和任务复杂度而异。该研究为理解触觉反馈在机器人数据采集中的作用提供了新视角。
原文摘要 · Abstract (English)
This work explores how force feedback affects various aspects of robot data collection within the Extended Reality (XR) setting. Force feedback has been proved to enhance the user experience in Extended Reality (XR) by providing contact-rich information. However, its impact on robot data collection has not received much attention in the robotics community. This paper addresses this shortcoming by conducting an extensive user study on the effects of force feedback during data collection in XR. We extended two XR-based robot control interfaces, Kinesthetic Teaching and Motion Controllers, with haptic feedback features. The user study is conducted using manipulation tasks ranging from simple pick-place to complex peg assemble, requiring precise operations. The evaluations show that force feedback enhances task performance and user experience, particularly in tasks requiring high-precision manipulation. These improvements vary depending on the robot control interface and task complexity. This paper provides new insights into how different factors influence the impact of force feedback.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。