用虚拟现实与触觉反馈提升水下机器人远程操控的沉浸感和精度
SubSense: VR-Haptic and Motor Feedback for Immersive Control in Subsea Telerobotics
- 通过手套+VR实现非侵入式触觉反馈，配合单自由度机械臂
- 实验表明在精细操作任务中表现优于传统2D监控方式
- 适合需要高沉浸感和精准操控的水下作业场景
本文研究将触觉反馈与虚拟现实（VR）控制界面结合，以增强水下遥控作业车辆（ROV）的远程操作与遥操作能力。传统ROV操控依赖低分辨率二维摄像画面，缺乏沉浸感和多感官反馈，导致复杂水下环境中情境感知能力下降。我们提出SubSense——一种新型VR-触觉融合框架，采用非侵入式反馈接口，搭配单自由度（1-DOF）机械臂，并与操作员手套协同，提供触觉反馈与抓取状态信息。此外，系统集成端到端软件，实现控制输入管理与沉浸式摄像头视角显示。通过全面实验与用户研究验证，结果表明该系统在精细操作任务中显著优于传统远程操控界面。研究证实，在沉浸式虚拟环境中引入多感官反馈可大幅提升远程情境感知与任务表现，使ROV操作更直观、易用。
原文摘要 · Abstract (English)
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on low-resolution 2D camera feeds and lacks immersive and sensory feedback, which diminishes situational awareness in complex subsea environments. We propose SubSense -- a novel VR-Haptic framework incorporating a non-invasive feedback interface to an otherwise 1-DOF (degree of freedom) manipulator, which is paired with the teleoperator's glove to provide haptic feedback and grasp status. Additionally, our framework integrates end-to-end software for managing control inputs and displaying immersive camera views through a VR platform. We validate the system through comprehensive experiments and user studies, demonstrating its effectiveness over conventional teleoperation interfaces, particularly for delicate manipulation tasks. Our results highlight the potential of multisensory feedback in immersive virtual environments to significantly improve remote situational awareness and mission performance, offering more intuitive and accessible ROV operations in the field.
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。