用触觉反馈统一操控机器人导航与操作，提升效率不增负担。
HARMONI: Haptic-Guided Assistance for Unified Robotic Tele-Manipulation and Tele-Navigation
- 通过实时触觉反馈实现导航与操作的无缝切换
- 20人实测显示准确率和效率显著提升
- 适合需要高精度远程操控的复杂场景
共享控制将人类经验与自主辅助结合，对复杂环境下的远程操作至关重要。尽管近期触觉引导的远程操作取得进展，但多限于6或7自由度机械臂的简化任务，且导航与操作采用独立控制策略，增加认知负荷和操作开销。本文提出一种融合触觉引导的统一远程移动操作框架，整合9自由度跟随式移动机械臂与7自由度主端机械臂，通过实时触觉反馈实现远程导航与操作间的无缝切换。在真实环境下对20名参与者进行用户研究，结果表明该框架显著提升任务准确率与效率，且未增加认知负荷。这些发现凸显了触觉引导共享控制在高要求远程操作场景中的潜力。
原文摘要 · Abstract (English)
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to simplified tasks involving 6- or 7-DoF manipulators and rely on separate control strategies for navigation and manipulation. This increases both cognitive load and operational overhead. In this paper, we present a unified tele-mobile manipulation framework that leverages haptic-guided shared control. The system integrates a 9-DoF follower mobile manipulator and a 7-DoF leader robotic arm, enabling seamless transitions between tele-navigation and tele-manipulation through real-time haptic feedback. A user study with 20 participants under real-world conditions demonstrates that our framework significantly improves task accuracy and efficiency without increasing cognitive load. These findings highlight the potential of haptic-guided shared control for enhancing operator performance in demanding teleoperation scenarios.
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