{"title":"Perception and Action Augmentation for Teleoperation Assistance in Freeform Tele-manipulation","authors":"Tsung-Chi Lin, Achyuthan Unni Krishnan, Zhi Li","doi":"10.1145/3643804","DOIUrl":null,"url":null,"abstract":"Teleoperation enables controlling complex robot systems remotely, providing the ability to impart human expertise from a distance. However, these interfaces can be complicated to use as it is difficult to contextualize information about robot motion in the workspace from the limited camera feedback. Thus, it is required to study the best manner in which assistance can be provided to the operator that reduces interface complexity and effort required for teleoperation. Some techniques that provide assistance to the operator while freeform teleoperating include: 1) perception augmentation, like augmented reality visual cues and additional camera angles, increasing the information available to the operator; 2) action augmentation, like assistive autonomy and control augmentation, optimized to reduce the effort required by the operator while teleoperating. In this paper we investigate: 1) which aspects of dexterous tele-manipulation require assistance; 2) the impact of perception and action augmentation in improving teleoperation performance; 3) what factors impact the usage of assistance and how to tailor these interfaces based on the operators’ needs and characteristics. The findings from this user study and resulting post-study surveys will help identify task based and user preferred perception and augmentation features for teleoperation assistance.","PeriodicalId":4,"journal":{"name":"ACS Applied Energy Materials","volume":"103 ","pages":""},"PeriodicalIF":5.4000,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACS Applied Energy Materials","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3643804","RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"CHEMISTRY, PHYSICAL","Score":null,"Total":0}
引用次数: 1
Abstract
Teleoperation enables controlling complex robot systems remotely, providing the ability to impart human expertise from a distance. However, these interfaces can be complicated to use as it is difficult to contextualize information about robot motion in the workspace from the limited camera feedback. Thus, it is required to study the best manner in which assistance can be provided to the operator that reduces interface complexity and effort required for teleoperation. Some techniques that provide assistance to the operator while freeform teleoperating include: 1) perception augmentation, like augmented reality visual cues and additional camera angles, increasing the information available to the operator; 2) action augmentation, like assistive autonomy and control augmentation, optimized to reduce the effort required by the operator while teleoperating. In this paper we investigate: 1) which aspects of dexterous tele-manipulation require assistance; 2) the impact of perception and action augmentation in improving teleoperation performance; 3) what factors impact the usage of assistance and how to tailor these interfaces based on the operators’ needs and characteristics. The findings from this user study and resulting post-study surveys will help identify task based and user preferred perception and augmentation features for teleoperation assistance.
期刊介绍:
ACS Applied Energy Materials is an interdisciplinary journal publishing original research covering all aspects of materials, engineering, chemistry, physics and biology relevant to energy conversion and storage. The journal is devoted to reports of new and original experimental and theoretical research of an applied nature that integrate knowledge in the areas of materials, engineering, physics, bioscience, and chemistry into important energy applications.