用AR+脑电实现通用机械臂操作，靠眼神选物、意念控制动作。
An Augmented Reality Brain-Robot Interface for Generalist Robot Arm Manipulation
- 结合眼动追踪与运动想象，实现自然交互的机器人控制。
- 18名参与者完成3项生活任务，系统可用性评分超70分。
- 适合需要辅助操作的残障人群，未来可拓展至真实用户群体。
将增强现实（AR）与基于脑电的脑机接口（BCI）结合，为辅助性机器人控制提供了直观路径。然而，现有AR脑-机器人接口（BRI）系统多局限于特定任务，难以适应真实环境。本文提出一种面向通用机械臂操作的AR BRI，结合眼动追踪实现物体选择，并通过上下文感知的视觉提示（“Place”和“Use”）在共享自主框架下引导用户完成任务。我们对18名健康受试者进行了可行性研究，让他们执行三项日常生活多步骤任务：饮水、使用抽屉和操作烤箱。结果表明，该交互范式能有效执行序列化任务，用户参与度高，系统可用性评分（SUS）超过70，达到“良好”水平。这些发现支持该范式在复杂脑控机器人辅助中的可行性，并推动其在目标人群中的后续评估。
原文摘要 · Abstract (English)
The integration of augmented reality (AR) and EEG-based brain-computer interfaces (BCIs) offers a promising path for enabling intuitive control of robots for assistive purposes. However, existing AR brain-robot interface (BRI) systems are often constrained to task-specific structures, limiting their utility in real-world environments. We present an AR BRI designed for generalist robot arm manipulation that combines gaze-based object selection with motor imagery action control. Our system uses eye-tracking for intuitive object targeting and context-aware visual overlays ("Place" and "Use") to guide the user through tasks within a shared autonomy framework. We evaluated the interface through a feasibility study with 18 healthy participants performing three multi-step activities of daily living: drinking, using a drawer, and operating an oven. Our results demonstrate that this interaction paradigm enables effective sequential task execution and high user engagement, achieving a "Good" usability rating (SUS > 70). These findings support the feasibility of the proposed interaction paradigm for complex BCI-driven robotic assistance, and motivate future evaluation with the intended target population. Project website: https://ar-bri-manip.github.io/.
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