用AR实现软体机器人远程操控，误差仅占臂长5%
Observer Design for Augmented Reality-based Teleoperation of Soft Robots
- 结合HoloLens 2与物理仿真，实时估计软体机械臂位置
- 在PETER机器人上验证，定位误差低于臂长5%
- 适合需要直观操控软体机器人的工业或医疗场景
尽管虚拟现实和增强现实正被用于各类机器人的远程操控，包括操作臂和移动机器人，但尚未广泛应用于软体机器人。由于软体机器人建模固有的困难，实现精确且计算高效的表示极为挑战。本文提出一种面向软体机器人远程操控的增强现实界面。系统由微软HoloLens 2眼镜与一台中央计算机组成，负责计算。在高度模块化的气动操作臂PETER上进行了验证。通过传感器采集的数据，计算机基于虚拟现实程序中的物理模型估算机器人位置。实验结果表明，定位误差约为机器人长度的5%，证明增强现实能有效提升操作者对软体机械臂的交互能力，并可集成至控制回路中。
原文摘要 · Abstract (English)
Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft robots mean that combining accurate and computationally efficient representations is very challenging. This paper presents an augmented reality interface for teleoperating these devices. The developed system consists of Microsoft HoloLens 2 glasses and a central computer responsible for calculations. Validation is performed on PETER, a highly modular pneumatic manipulator. Using data collected from sensors, the computer estimates the robot's position based on the physics of the virtual reality programme. Errors obtained are on the order of 5% of the robot's length, demonstrating that augmented reality facilitates operator interaction with soft manipulators and can be integrated into the control loop.
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