A multimodal teleoperation interface for human-robot collaboration

Weiyong Si, Tianjian Zhong, Ning Wang, Chenguang Yang
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Abstract

Human-robot collaboration provides an effective approach to combine human intelligence and the autonomy of robots, which can improve the safety and efficiency of the robot. However, developing an intuitive and immersive human-robot interface with multimodal feedback for human-robot interaction and collaboration is still challenging. In this paper, we developed a multimodal-based human-robot interface to involve humans in the loop. The Unity-based virtual reality (VR) environment, including the virtual robot manipulator and its working environment, was developed to simulate the real working environment of robots. We integrated the digital twin mechanism with the VR environment development, which provides a corresponding model with the physical task. The virtual environment could visualize the visual and haptic feedback through the multimodal sensors in the robot, which provides an immersive and friendly teleoperating environment for human operators. We conduct user study experiments based on NASA Task Load Index, through a physical contact scanning task. The result shows that the proposed multimodal interface improved by 31.8% in terms of the cognitive and physical workload, comparing with the commercial teleportation device Touch X.
人机协作的多模态远程操作界面
人机协作为人的智能与机器人的自主性相结合提供了一种有效的途径,可以提高机器人的安全性和效率。然而,为人机交互和协作开发具有多模态反馈的直观和沉浸式人机界面仍然具有挑战性。在本文中,我们开发了一个基于多模态的人机界面,使人类参与到循环中。为了模拟机器人的真实工作环境,开发了基于unity的虚拟现实(VR)环境,包括虚拟机器人操作手及其工作环境。我们将数字孪生机制与虚拟现实环境开发相结合,提供了与物理任务相对应的模型。虚拟环境可以通过机器人内部的多模态传感器将视觉和触觉反馈可视化,为人类操作者提供身临其境、友好的遥操作环境。我们基于NASA任务负载索引,通过物理接触扫描任务进行用户研究实验。结果表明,与商业隐形传态设备Touch X相比,所提出的多模式界面在认知和物理工作量方面提高了31.8%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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