让机器人皮肤实时显示触摸意图，提升人机交互安全性。
Mirror Skin: In Situ Visualization of Robot Touch Intent on Robotic Skin
- 用仿章鱼皮肤的镜面反馈，实时映射人体部位位置
- 用户识别触摸意图准确率提升，反应时间缩短
- 适合需要精准触觉交互的医疗、协作机器人场景
有效的机器人触摸意图传达是促进安全可预测的人机物理交互（pHRI）的关键。尽管意图通信已被广泛研究，但现有方法缺乏空间精确性和语义深度来清晰表达机器人的触摸动作。我们提出镜面皮肤（Mirror Skin），一种受头足类动物启发的设计，利用高分辨率镜面视觉反馈在机器人皮肤上实现原位可视化。通过将人体部位的实时视觉表示映射到机器人对应接触区域，镜面皮肤能够传达谁将发起触摸、触碰位置以及触碰即将发生的时间。为指导设计，我们与虚拟现实（VR）领域的专家开展结构化设计探索，迭代优化六个关键维度。随后的受控用户研究表明，镜面皮肤显著提升了触摸意图识别的准确性，并降低了响应时间。这些发现表明，机器人皮肤上的视觉反馈具有提升人机触摸交互沟通潜力。
原文摘要 · Abstract (English)
Effective communication of robotic touch intent is a key factor in promoting safe and predictable physical human-robot interaction (pHRI). While intent communication has been widely studied, existing approaches lack the spatial specificity and semantic depth necessary to convey robot touch actions. We present Mirror Skin, a cephalopod-inspired concept that utilizes high-resolution, mirror-like visual feedback on robotic skin. By mapping in-situ visual representations of a human's body parts onto the corresponding robot's touch region, Mirror Skin communicates who shall initiate touch, where it will occur, and when it is imminent. To inform the design of Mirror Skin, we conducted a structured design exploration with experts in virtual reality (VR), iteratively refining six key dimensions. A subsequent controlled user study demonstrated that Mirror Skin significantly enhances accuracy and reduces response times for interpreting touch intent. These findings highlight the potential of visual feedback on robotic skin to communicate human-robot touch interactions.
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