用激光和触觉反馈实现远程智能机器人操作，提升操控直观性。
Intuitive Human-Robot Interfaces Leveraging on Autonomy Features for the Control of Highly-redundant Robots
- 通过激光指示与触觉反馈，远程操控机器人如牵线木偶。
- 结合行为树实现动态路径跟踪，支持双臂协同抓取与移动。
- 适用于上肢障碍者辅助生活任务，降低操作门槛。
本文提出一种名为TelePhysicalOperation的直观人机交互接口，用户可通过在机器人特定部位施加虚拟力来远程操控其不同能力（如单/双臂操作、轮式/腿式移动），该方式模仿物理人机交互的直观性，同时实现安全距离下的远程控制，类似“提线木偶”操作体验。系统进一步集成可穿戴触觉反馈功能以增强“提线木偶”隐喻的一致性，并通过用户研究验证了有无触觉通道下的有效性。考虑到机器人自主性的重要性，该接口整合了自主模块，支持双臂移动基座机器人完成双臂协同抓取与运输任务。借助激光引导界面，用户使用简易激光发射器标记兴趣点；基于神经网络的视觉系统实时追踪激光投影，使用户不仅能指定固定目标（如物体），还能指示运动路径。通过自主行为控制，移动操作臂利用其定位与操作能力沿指示路径行动。该行为采用行为树建模，具备反应性与模块化特性，能快速响应目标位置变化并适配任务需求。所提出的激光接口亦应用于辅助场景，上肢功能受限的用户可通过佩戴头戴式激光发射器指向目标，协作完成日常生活活动。
原文摘要 · Abstract (English)
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This approach emulates the intuitiveness of physical human-robot interaction, but at the same time it permits to teleoperate the robot from a safe distance, in a way that resembles a "Marionette" interface. The system is further enhanced with wearable haptic feedback functions to align better with the "Marionette" metaphor, and a user study has been conducted to validate its efficacy with and without the haptic channel enabled. Considering the importance of robot independence, the TelePhysicalOperation interface incorporates autonomy modules to face, for example, the teleoperation of dual-arm mobile base robots for bimanual object grasping and transportation tasks. With the laser-guided interface, the user can indicate points of interest to the robot through the utilization of a simple but effective laser emitter device. With a neural network-based vision system, the robot tracks the laser projection in real time, allowing the user to indicate not only fixed goals, like objects, but also paths to follow. With the implemented autonomous behavior, a mobile manipulator employs its locomanipulation abilities to follow the indicated goals. The behavior is modeled using Behavior Trees, exploiting their reactivity to promptly respond to changes in goal positions, and their modularity to adapt the motion planning to the task needs. The proposed laser interface has also been employed in an assistive scenario. In this case, users with upper limbs impairments can control an assistive manipulator by directing a head-worn laser emitter to the point of interests, to collaboratively address activities of everyday life. [...]
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