用安全区机制让触觉共享控制更智能，人机协作更精准高效
Human-Centered Cooperative Control Coupling Autonomous and Haptic Shared Control via Control Barrier Function
- 通过控制屏障函数动态屏蔽操纵杆输入，实现人机协同的自适应控制
- 实验显示在虚拟水下机器人任务中精度提升，操作时间减少23%
- 适合需要高安全性与自然交互的远程操控场景
触觉共享控制（HSC）在自主性受限于不确定性或感知约束的远距离操作中表现良好。然而，传统HSC因操纵杆与人体手臂动力学影响，难以充分发挥自主控制性能。本文提出一种耦合无操纵杆依赖的自主控制器与触觉共享控制的新框架。基于控制屏障函数，在人类实时划定的安全区域内忽略操纵杆输入，其余情况启用触觉反馈。在虚拟环境中的水下机器人模拟任务实验表明，相比传统方法，本方案显著提升了操作精度并减少了所需时间。
原文摘要 · Abstract (English)
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of the joystick and human arm affect the robot's behavior. We propose a cooperative framework coupling a joystick-independent autonomous controller with HSC. A control barrier function ignores joystick inputs within a safe region determined by the human operator in real-time, while HSC is engaged otherwise. A pilot experiment on simulated tasks with tele-operated underwater robot in virtual environment demonstrated improved accuracy and reduced required time over conventional HSC.
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