Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators
Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators
复制标题
软体机器人操纵器人机远程操作界面的评估
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
I. Godage
中科院分区：
文献类型：
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作者：
Arturo Amaya;Dimuthu D. K. Arachchige;Jonathan Grey;I. Godage
软体机器人操纵器 (SRM) 的生物学灵感来自于象鼻和章鱼手臂等动物附肢。与传统的刚性机器人操纵器相比，SRM 由柔性材料制成，并通过结构变形产生运动。因此，它们更容易适应非结构化环境。遥控 SRM 可用于对人类有害或不切实际的空间（即核辐射或微创手术场所）。关于 SRM 远程操作期间影响人类表现的因素的研究有限。我们提出了两种人机界面 (HRI)，并对对象处理任务中的 SRM 进行用户研究，并使用空间输入设备和基于增强现实的输入设备评估远程操作员的性能。在沉浸式拾取和放置操作中，对两种类型的控制器（直接和间接）的用户交互进行量化。系统可用性量表 (SUS) 调查问卷用于评估每个 HRI 的可用性。结果表明，使用间接控制 HRI 的用户执行效率更高，错误更少，并且无论硬件设备如何，参与者都认为间接控制 HRI 更可用。
Soft robotic manipulators (SRM) are biologically inspired from animal appendages such as elephant trunks and octopuses’ arms. In contrast to traditional rigid robotic manipulators, SRMs are made of flexible material and generate motion through structural deformation. Thus, they more easily adapt to unstructured environments. Teleoperated SRMs can be used in spaces harmful or impractical to humans (i.e., nuclear radiation or minimally invasive surgical sites). Limited research is available on the factors that affect human performance during the teleoperation of SRMs. We present two Human-Robot Interfaces (HRI) and conduct user studies on an SRM in object handling tasks and assess the performance of teleoperators using spatial input devices and augmented reality-based input devices. The user interaction is quantified for two types of controllers (Direct and Indirect) in an immersive pick and place operation. A System Usability Scale (SUS) questionnaire is administered to assess the usability of each HRI. Results suggest that the users perform more effectively, make fewer errors using the Indirect Control HRI and participants rated the Indirect Control HRI as more usable regardless of the hardware device.