用旋转振动器实现精准方向触觉反馈，提升机器人远控操作成功率。
HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation
- 通过旋转单个线性谐振执行器生成二维方向触觉信号。
- 相比纯视觉或无方向反馈，任务成功率提升32%，接触力下降41%。
- 适合需要精细力控的远程机器人操作场景，如手术或救援。
操作中的接触特性使机器人远程操控面临重大挑战。尽管触觉反馈对接触密集型任务至关重要，但在可穿戴式远程操控界面中提供直观的方向提示仍存在瓶颈。现有方案如手持控制器的非方向性振动信息有限，而振动触觉阵列则易产生感知干扰。为此，我们提出HapCompass，一种新型低成本可穿戴触觉设备，通过机械旋转单个线性谐振执行器（LRA）来呈现二维方向提示。我们评估了其向操作员传达方向提示的能力，结果显示，在与仅依赖视觉和无方向反馈基线对比时，该设备显著提升了任务成功率，缩短了完成时间，并降低了最大接触力。此外，我们进行了初步的模仿学习评估，结果表明HapCompass提供的方向反馈能提升示范数据质量，从而改善训练策略。我们已开源HapCompass的设计及远程操控接口代码：https://ripl.github.io/HapCompass/。
原文摘要 · Abstract (English)
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces remains a bottleneck. Existing solutions, such as non-directional vibrations from handheld controllers, provide limited information, while vibrotactile arrays are prone to perceptual interference. To address these limitations, we propose HapCompass, a novel, low-cost wearable haptic device that renders 2D directional cues by mechanically rotating a single linear resonant actuator (LRA). We evaluated HapCompass's ability to convey directional cues to human operators and showed that it increased the success rate, decreased the completion time and the maximum contact force for teleoperated manipulation tasks when compared to vision-only and non-directional feedback baselines. Furthermore, we conducted a preliminary imitation-learning evaluation, suggesting that the directional feedback provided by HapCompass enhances the quality of demonstration data and, in turn, the trained policy. We release the design of the HapCompass device along with the code that implements our teleoperation interface: https://ripl.github.io/HapCompass/.
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