水中ロボット遠隔操作のための最適なヒューマンロボットインターフェース設計に向けて
Towards Optimal Human-Robot Interface Design Applied to Underwater Robotics Teleoperation
人間の身体動作を水中ロボットの制御コマンドに変換する遠隔操作インターフェースを提案し、スマホ搭載HMDを用いた被験者実験で最適な変換が直感的で自然であることを示した。
著者: Paulo Padrao, Jose Fuentes, Tero Kaarlela, Alfredo Bayuelo, Leonardo Bobadilla
分類: cs.RO, cs.HC
原文アブストラクト
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental monitoring. In this paper, we investigate the design of human-robot interfaces for the teleoperation of dynamical systems. The proposed framework seeks to find an optimal interface that complies with key concepts such as user comfort, efficiency, continuity, and consistency. As a proof-of-concept, we introduce an innovative approach to teleoperating underwater vehicles, allowing the translation between human body movements into vehicle control commands. This method eliminates the need for divers to work in harsh underwater environments while taking into account comfort and communication constraints. We conducted a study with human subjects using a head-mounted display attached to a smartphone to control a simulated ROV. Also, numerical experiments have demonstrated that the optimal translation is often the most intuitive and natural one, aligning with users' expectations.
