用AR可视化机器人阻抗控制目标，让操作员无须触觉设备也能感知力反馈。
Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation
- 通过AR显示阻抗控制器的目标位置与实际偏差，直观传递接触力信息。
- 实验表明在力敏感任务中，完成时间减少24%，滑动任务无明显提升。
- 适合缺乏触觉反馈的低成本远程操控场景，尤其适用于双臂协作任务。
针对高接触性操作中使用低成本仅运动型接口难以提供触觉反馈的问题，本文提出一种增强现实（AR）可视化方法，实时展示阻抗控制器的目标姿态及其与机器人末端执行器的偏离程度。该设计使操作员无需昂贵的触觉硬件即可获得直观的力反馈。我们通过17名参与者参与的双臂操作实验，在有无AR可视化的条件下重复进行箱子重定位任务。结果表明，在力敏感的抬升任务中，使用AR可视化可将任务完成时间减少24%；而在对力控要求不高的滑动任务中则无显著差异。这说明通过AR呈现阻抗目标是提升人机交互性能的有效方式，尤其适用于需要精确接触力控制的远程操作场景。
原文摘要 · Abstract (English)
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators to directly perceive or regulate contact forces, limiting task performance. To address this, we propose an augmented reality (AR) visualization of the impedance controller's target pose and its displacement from each robot end effector. This visualization conveys the forces generated by the controller, providing operators with intuitive, real-time feedback without expensive haptic hardware. We evaluate the design in a dual-arm manipulation study with 17 participants who repeatedly reposition a box with and without the AR visualization. Results show that AR visualization reduces completion time by 24% for force-critical lifting tasks, with no significant effect on sliding tasks where precise force control is less critical. These findings indicate that making the impedance target visible through AR is a viable approach to improve human-robot interaction for contact-rich teleoperation.
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