用物理阻抗场让机器人更直观地表达意图，提升人机协作效率。
Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
- 通过阻抗驱动的非对称引导场，实现机器人意图的物理化表达。
- 在三类场景中任务表现、人机共识度与用户体验均显著提升。
- 适合需要自然交互的远程操控与协作机器人应用。
共享自主（SA）使机器人能够推断人类意图并协助完成任务。然而，多数研究聚焦于提升意图推理能力，忽略了人类是否能理解机器人的意图。缺乏双向理解会导致协作效率下降，影响使用体验和任务表现。以往研究通过附加界面显式传递机器人意图，但存在不直观、表达力有限的问题。受阻抗控制启发，本文提出阻抗驱动的各向异性引导场增强型共享自主（IAGF-SA），一种新型范式，通过具身化的物理通道实现动态响应调节，使机器人意图以连续、物理基础的方式传达，同时自然引导人类动作。在三个场景及两种远程操控界面下的用户实验表明，IAGF-SA显著提升了任务性能、人机一致性与主观体验，验证了其在增强人机沟通与协作方面的有效性。
原文摘要 · Abstract (English)
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual understanding, collaboration becomes less effective, degrading user experience and task performance. To address this gap, previous studies have explicitly conveyed the robot intent through additional interfaces, which remain unintuitive and limited in expressiveness. Inspired by impedance control, we propose Impedance-Driven Anisotropic Guidance Field Enhanced Shared Autonomy (IAGF-SA), a novel paradigm that extends SA with an embodied, physically-grounded communication channel. This channel adaptively modulates the robot's dynamic response to human input, enabling intuitive, continuous, physically-grounded robot intent communication while naturally guiding human actions. User studies across three scenarios and two teleoperation interfaces indicate that IAGF-SA improves task performance, human-robot agreement, and subjective experience, thus demonstrating its effectiveness in enhancing human-robot communication and collaboration.
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