提出点控直行模式，让轮椅机械臂操作更直观高效。
Point and Go: Intuitive Reference Frame Reallocation in Mode Switching for Assistive Robotics
- 用扫动动作定义新平移轴，实现直观的‘点即走’控制
- 实验显示任务时间减少31%，暂停次数降41%，换模次数减33%
- 适合残障人士使用，尤其提升复杂操作的流畅性
轮椅搭载的高自由度机械臂操作对用户而言颇具挑战。传统笛卡尔空间下的模式切换存在控制参考系不直观、平移与姿态分控、运动能力受限等问题。本文提出“点和走”（Point and Go）模式切换机制，将参考系重新映射至更符合人体工学的动作空间，包含新型平移与旋转模式。通过创新的扫动动作定位夹持器，确定机器人基座水平面内的新平移方向，实现无需换模即可完成复杂人机交互动作的‘点即走’平移。旋转模式融合位置控制与优化的末端执行器定向坐标系，确保在不同末端姿态下动作精准一致。初步实验后，开展三任务用户研究，对比本方法、传统笛卡尔模式及一种先进学习方法。结果表明，该方法使任务完成时间减少31%，停顿次数降低41%，模式切换次数减少33%，用户问卷反馈显著更优。
原文摘要 · Abstract (English)
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian space has several drawbacks such as unintuitive control reference frames, separate translation and orientation control, and limited movement capabilities that hinder performance. We propose Point and Go mode switching, which reallocates the Cartesian mode switching reference frames into a more intuitive action space comprised of new translation and rotation modes. We use a novel sweeping motion to point the gripper, which defines the new translation axis along the robot base frame's horizontal plane. This creates an intuitive `point and go' translation mode that allows the user to easily perform complex, human-like movements without switching control modes. The system's rotation mode combines position control with a refined end-effector oriented frame that provides precise and consistent robot actions in various end-effector poses. We verified its effectiveness through initial experiments, followed by a three-task user study that compared our method to Cartesian mode switching and a state of the art learning method. Results show that Point and Go mode switching reduced completion times by 31\%, pauses by 41\%, and mode switches by 33\%, while receiving significantly favorable responses in user surveys.
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