Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping
Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping
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DOI：
10.1109/icra40945.2020.9197220
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Tsung-Chi Lin;Achyuthan Unni Krishnan;Zhi Li
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文献类型：
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作者：
Tsung-Chi Lin;Achyuthan Unni Krishnan;Zhi Li
运动映射是一种直观的远程操作方法，具有较低的学习曲线。我们之前的研究调查了远程操作机器人执行通用辅助任务所引起的身体疲劳，以及这种疲劳影响操作员的表现。该研究的结果表明，在需要更精确操作和保持稳定姿势的任务中，身体疲劳更容易发生。在本文中，我们研究了基于共享自主性的遥操作辅助如何通过运动映射来减少机器人遥操作的物理工作量。具体而言，我们进行了一项用户研究，以比较移动人形机器人在远程操作中的肌肉努力：(1)到达并抓住单个物体；(2)在杂乱的工作空间中收集物体，有无可由远程操作员手动触发的自主抓取功能。我们还比较了参与者在使用辅助功能的基础上的任务绩效、主观用户体验以及对未来使用远程操作辅助的态度变化。研究结果表明：(1)自主抓取等遥操作辅助可以有效减少机器人的体力劳动、任务完成时间和错误次数；(2)根据他们在有和没有帮助的情况下执行任务的经验，远程操作员报告说他们更倾向于在未来的远程操作界面中使用自动化功能。
Motion mapping is an intuitive method of teleoperation with a low learning curve. Our previous study investigates the physical fatigue caused by teleoperating a robot to perform general-purpose assistive tasks and this fatigue affects the operator’s performance. The results from that study indicate that physical fatigue happens more in the tasks which involve more precise manipulation and steady posture maintenance. In this paper, we investigate how teleoperation assistance in terms of shared autonomy can reduce the physical workload in robot teleoperation via motion mapping. Specifically, we conduct a user study to compare the muscle effort in teleoperating a mobile humanoid robot to (1) reach and grasp an individual object and (2) collect objects in a cluttered workspace with and without an autonomous grasping function that can be triggered manually by the teleoperator. We also compare the participants’ task performance, subjective user experience, and change in attitude towards the usage of teleoperation assistance in the future based on their experience using the assistance function. Our results show that: (1) teleoperation assistance like autonomous grasping can effectively reduce the physical effort, task completion time and number of errors; (2) based on their experience performing the tasks with and without assistance, the teleoperators reported that they would prefer to use automated functions for future teleoperation interfaces.