为超人尺寸机械臂设计沉浸式远程操作，解决安全与操控错位难题。
Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions
- 对比外骨骼与操纵杆控制，优化触觉与视觉反馈设计
- 实验验证不同交互方式在减少感官错配上的效果差异
- 适合工业级大尺度机器人远程操控研究者参考
超人尺寸机械臂（BHSRMs）的远程操作面临与常规人尺寸系统根本不同的挑战。随着这类平台在建筑、采矿和灾后救援等工业领域日益重要，必须重新思考沉浸式交互界面，以实现可扩展、安全且高效的协同操作。本文分析了远程操作中控制、认知和界面层面的核心挑战，重点关注操作员安全、最小化感觉运动错配以及增强具身感。通过早期实验比较外骨骼与操纵杆控制方案，评估触觉与视觉反馈系统的设计权衡。最后，提出开发新型评估工具、可扩展策略及面向大规模机器人远程呈现的人本安全模型等关键研究方向。
原文摘要 · Abstract (English)
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction, mining, and disaster response, immersive interfaces must be rethought to support scalable, safe, and effective human-robot collaboration. This paper investigates the control, cognitive, and interface-level challenges of immersive teleoperation in BHSRMs, with a focus on ensuring operator safety, minimizing sensorimotor mismatch, and enhancing the sense of embodiment. We analyze design trade-offs in haptic and visual feedback systems, supported by early experimental comparisons of exoskeleton- and joystick-based control setups. Finally, we outline key research directions for developing new evaluation tools, scaling strategies, and human-centered safety models tailored to large-scale robotic telepresence.
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