改进夹爪设计可提升机器人学习的人类示范质量。
Influence of Gripper Design on Human Demonstration Quality for Robot Learning
- 对比三种夹爪与徒手操作，评估其示范效果。
- 集中受力夹爪表现优于分散受力夹爪，但仍不及徒手。
- 适合医疗机器人、人机协作研究者参考。
打开无菌医疗包装是医护人员的常规任务，但对机器人而言仍具挑战。通过示范学习，机器人可直接从人类操作中获取抓取技能，手持式夹爪工具（如通用操控接口UMI）为高效数据采集提供了途径。然而，工具有效性高度依赖其易用性。本研究评估了UMI在演示绷带开启任务中的表现，测试了三种条件：分布载荷夹爪、集中载荷夹爪和徒手操作。八名参与者完成计时实验，任务表现通过成功率、完成时间与损伤程度评估，并结合NASA-TLX问卷测量主观负荷。结果显示，集中载荷夹爪相比分布载荷夹爪性能更优，但仍显著慢于徒手且效果较差。研究强调，需在手持夹爪的人体工学与机械设计上进一步优化，以减轻用户负担并提升示范质量，尤其适用于医疗机器人应用。
原文摘要 · Abstract (English)
Opening sterile medical packaging is routine for healthcare workers but remains challenging for robots. Learning from demonstration enables robots to acquire manipulation skills directly from humans, and handheld gripper tools such as the Universal Manipulation Interface (UMI) offer a pathway for efficient data collection. However, the effectiveness of these tools depends heavily on their usability. We evaluated UMI in demonstrating a bandage opening task, a common manipulation task in hospital settings, by testing three conditions: distributed load grippers, concentrated load grippers, and bare hands. Eight participants performed timed trials, with task performance assessed by success rate, completion time, and damage, alongside perceived workload using the NASA-TLX questionnaire. Concentrated load grippers improved performance relative to distributed load grippers but remained substantially slower and less effective than hands. These results underscore the importance of ergonomic and mechanical refinements in handheld grippers to reduce user burden and improve demonstration quality, especially for applications in healthcare robotics.
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