人机协作操控碳纤维布，用语音+手势+力控实现高效直观操作。
Human-Guided Co-Manipulation of Carbon Fiber Plies
- 融合语音、视觉手势追踪和柔顺力控的多模态交互方式。
- 实验验证该组合在控制精度与操作效率上优于单一模式。
- 适合需要高精度柔性材料处理的工业场景，如航空制造。
柔性材料的处理因易变形难以完全自动化，而纯人工操作又存在人因工程挑战、繁琐低效等问题。因此，人机协作（HRC）与协同操作（co-manipulation）在该领域日益受到关注，可在必要时引入人力并提升生产效率。为实现高效的人机协同操作，需采用多种交互模态与控制方法。本文评估了多种协同操作控制方法在受控环境下的优劣，提出一种结合语音指令、视觉手腕追踪与柔顺力控的多模态方案，可实现对碳纤维铺层操作的完整且直观的控制，具备良好的实用潜力。
原文摘要 · Abstract (English)
The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the deformability of these types of objects. Meanwhile, a fully manual process can be ergonomically challenging, tedious and inefficient. Thus, human-robot collaboration (HRC) and cooperative manipulation (co-manipulation) have received increasing interest in this field as they enable human involvement when needed while also improving productivity. To enable efficient co-manipulation and interaction between the human operator and the robot, different modalities and control methods are required. In this paper, we present and examine different control methods for co-manipulation of carbon fiber plies, evaluating the pros and cons of each method in a controlled setting. We propose that a multimodal combination of speech commands, wrist-tracking through vision, and force with compliant control would provide the best solution for complete and intuitive control of the task.
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