通过混合现实与力反馈，提升水下机械臂操作的精准与舒适度。
MR-UBi: Mixed Reality-Based Underwater Robot Arm Teleoperation System with Reaction Torque Indicator via Bilateral Control
- 在混合现实头显中叠加颜色长度编码的扭矩指示条，融合视觉与触觉反馈。
- 实验显示操作精度提升，最佳扭矩范围停留时间增加，高低扭矩失误减少。
- 适合需要高精度水下作业的工程师、科研人员，尤其关注人机交互体验者。
我们提出一种基于混合现实的水下机械臂遥操作系统（MR-UBi），通过双边控制实现反应扭矩指示（RTI）。RTI 在混合现实头显（MR-HMD）中叠加颜色与长度编码的扭矩条，实现操作过程中的视觉与触觉反馈无缝融合。十六名参与者参与对比实验，结果表明，相较于基线双边控制方案，MR-UBi 显著提升了抓取扭矩控制精度，增加了在最优扭矩范围内的停留时间，并降低了在低/高扭矩范围的持续时间，任务包括不同刚度物体的抓取与放置。主观评价显示，系统使用满意度（SUS）更高，工作负荷（NASA-TLX）更低。总体验证了 MR-UBi 通过融合多模态反馈，实现了更稳定、精确且用户友好的水下机械臂遥操作。
原文摘要 · Abstract (English)
We present a mixed reality-based underwater robot arm teleoperation system with a reaction torque indicator via bilateral control (MR-UBi). The reaction torque indicator (RTI) overlays a color and length-coded torque bar in the MR-HMD, enabling seamless integration of visual and haptic feedback during underwater robot arm teleoperation. User studies with sixteen participants compared MR-UBi against a bilateral-control baseline. MR-UBi significantly improved grasping-torque control accuracy, increasing the time within the optimal torque range and reducing both low and high grasping torque range during lift and pick-and-place tasks with objects of different stiffness. Subjective evaluations further showed higher usability (SUS) and lower workload (NASA--TLX). Overall, the results confirm that \textit{MR-UBi} enables more stable, accurate, and user-friendly underwater robot-arm teleoperation through the integration of visual and haptic feedback. For additional material, please check: https://mertcookimg.github.io/mr-ubi
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