用于人机物理交互的可充气人形控制化身

Ryuma Niiyama, M. Ikeda, Young ah Seong
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引用次数: 1

摘要

在数字双胞胎中,人形机器人可以是现实世界中模拟代理的对应物。此外,人、虚拟化身和虚拟机器人可能构成数字三胞胎。我们提出了一个可充气的控制论化身(CA),具有人形的上半身,使用可充气的结构,可以表示手势。这种可充气的CA比传统的人形机器人更轻、更安全、更便宜,而且放气后可以折叠。这些特性是理想的物理人机交互(pHRI),并允许通过交互实时收集人类行为。在实验中,基本的动作,如点头和举起手臂是用动作捕捉系统测量的。本文对混合事件中提出的可膨胀CA进行了验证。我们还进行了一项实验,使用连接在充气部件织物上的触觉传感器来测量触摸交互。心理安全的充气类人CA是一个很有前途的物理交互实验平台。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Inflatable Humanoid Cybernetic Avatar for Physical Human-Robot Interaction
In a digital twin, a humanoid robot can be the counterpart of a simulated agent in the real world. In addition, a human, virtual avatar, and avatar robot might constitute digital triplets. We propose an inflatable cybernetic avatar (CA) with a humanoid upper body using an inflatable structure that can represent gestures. This inflatable CA is much lighter, safer, and cheaper than conventional humanoid robots and can be folded when deflated. These properties are ideal for physical human–robot interaction (pHRI) and allow real-time collection of human behavior through interaction. In the experiment, basic movements such as nodding and raising arms were measured using motion capture systems. This paper demonstrates the proposed inflatable CA in a hybrid event. We also conducted an experiment to measure the touch interactions using tactile sensors attached to the fabric of the inflatable part. A psychologically secure inflatable humanoid CA is a promising platform for physical interaction experiments.
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