使用混合现实和口舌接口共享控制超数机器人四肢
Hongwei Jing1, Sikai Zhao1, Tianjiao Zheng1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150006, China.
Biosensors
|February 25, 2025
概括
共享控制通过混合自主和自愿用户输入来增强超人机器人四肢 (SRL) 操作. 这种方法平衡了效率和用户体验,在复杂的任务中实现直观的控制.
科学领域:
- 人与机器人的交互
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
背景情况:
- 超人机器人四肢 (SRLs) 提供了增强的操作能力,但当人类四肢被占用时,它们面临控制挑战.
- 现有的控制方法,如电肌图 (EMG) 和冗余四肢控制,在自由度和数据复杂性方面存在局限性.
- 完全自主控制缺乏实时用户调节能力,而自愿控制在复杂的任务中可能是低效的.
研究的目的:
- 开发和评估使用混合现实 (MR) 接口的超数机器人四肢 (SRL) 的共享控制系统.
- 为了实现自主和自主控制之间的动态切换,以实现灵活和高效的SRL操作.
- 研究与自主和自愿控制模式相比,共享控制的可行性和优势.
主要方法:
- 混合现实 (MR) 设备与SRL控制的口舌接口的集成.
- 开发一个随机森林模型来分类14个不同的舌头和口腔操作,用于映射到六度自由度SRL控制.
- 与十名健康受试者进行比较实验,他们在共享,自主和自愿控制模式下执行组装任务.
主要成果:
- 共享控制证明了机器自主性和人类投入之间的平衡.
- 虽然自主控制显示出更高的任务效率,但共享控制实现了更高的任务成功率.
- 共享控制通过结合自主和自愿控制的好处,改善了用户体验.
结论:
- 该研究验证了对超人机器人四肢 (SRL) 的共享控制的可行性.
- 共享控制在灵活性方面提供了优势,允许在自主性和用户干预之间无切换.
- 这种方法为直观和有效的SRL控制提供了新的见解,以加强人机协作.
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