Design Interface Mapping for Efficient Free-form Tele-manipulation
Design Interface Mapping for Efficient Free-form Tele-manipulation
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DOI：
10.1109/iros47612.2022.9982149
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Achyuthan Unni Krishnan;Tsung-Chi Lin;Zhi Li
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文献类型：
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作者：
Achyuthan Unni Krishnan;Tsung-Chi Lin;Zhi Li
运动跟踪界面是直观的自由形式的远程操作任务。然而，由于诸如意外运动的干扰和人类运动控制的有限精度等问题，这种接口的有效操作控制可能很困难。在机器人遥操作中，控制效率的限制降低了操作人员的工作效率，增加了他们的工作量和挫败感。为了提高效率，提出了分离控制自由度和调整运动跟踪接口的运动缩放比的方法。接口采用了虚拟现实系统中手持控制器的运动跟踪技术。我们将平移和旋转控制分为：1)主手和非主手分别控制两个控制器，2)手部姿势跟踪和控制器的触控板输入。我们根据1)环境约束和2)遥操作者的控制速度来缩放控制映射比。我们进一步进行了一项用户研究，以调查所提出的方法在提高效率方面的有效性。我们的研究结果表明，将位置和方向控制分离为两个控制器和基于环境的缩放方法比它们的替代方法性能更好。
Motion tracking interfaces are intuitive for free-form teleoperation tasks. However, efficient manipulation control can be difficult with such interfaces because of issues like the interference of unintended motions and the limited precision of human motion control. The limitation in control efficiency reduces the operator's performance and increases their workload and frustration during robot teleoperation. To improve the efficiency, we proposed separating controlled degrees of freedom (DoFs) and adjusting the motion scaling ratio of a motion tracking interface. The motion tracking of handheld controllers from a Virtual Reality system was used for the interface. We separated the translation and rotational control into: 1) two controllers held in the dominant and non-dominant hands and 2) hand pose tracking and trackpad inputs of a controller. We scaled the control mapping ratio based on 1) the environmental constraints and 2) the teleoperator's control speed. We further conducted a user study to investigate the effectiveness of the proposed methods in increasing efficiency. Our results show that the separation of position and orientation control into two controllers and the environment-based scaling methods perform better than their alternatives.