将触觉显示缠绕在机器人手臂上以传达学习
Wrapping Haptic Displays Around Robot Arms to Communicate Learning
摘要：
人类可以利用物理交互来教机器人手臂。当人类通过动觉引导机器人进行演示时，机器人学会了所需的任务。虽然之前的工作集中在机器人如何学习，但对于人类教师来说，了解他们的机器人正在学习什么同样重要。视觉显示可以传达这些信息;然而，我们假设视觉反馈本身错过了人类和机器人之间的物理联系。在本文中，我们介绍了一类新的软触觉显示，包裹在机器人手臂，添加信号，而不影响互动。我们首先设计了一个气动驱动阵列，保持灵活的安装。然后，我们开发这个包装的触觉显示的单维和多维版本，并探讨在心理生理测试和机器人学习的渲染信号的人类感知。我们最终发现，人们准确地区分单维反馈的韦伯分数为11.4%，识别多维反馈的准确率为94.5%。在对机器人手臂进行物理教学时，人类利用单维和多维反馈提供比视觉反馈更好的演示：我们的包裹式触觉显示减少了教学时间，同时提高了演示质量。这种改进取决于包裹的触觉显示的位置和分布。你可以在这里看到我们的设备和实验的视频：https://youtu.be/yPcMGeqsjdM
英文摘要：
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important for the human teacher to understand what their robot is learning. Visual displays can communicate this information; however, we hypothesize that visual feedback alone misses out on the physical connection between the human and robot. In this paper we introduce a novel class of soft haptic displays that wrap around the robot arm, adding signals without affecting that interaction. We first design a pneumatic actuation array that remains flexible in mounting. We then develop single and multi-dimensional versions of this wrapped haptic display, and explore human perception of the rendered signals during psychophysic tests and robot learning. We ultimately find that people accurately distinguish single-dimensional feedback with a Weber fraction of 11.4%, and identify multi-dimensional feedback with 94.5% accuracy. When physically teaching robot arms, humans leverage the single- and multi-dimensional feedback to provide better demonstrations than with visual feedback: our wrapped haptic display decreases teaching time while increasing demonstration quality. This improvement depends on the location and distribution of the wrapped haptic display. You can see videos of our device and experiments here: https://youtu.be/yPcMGeqsjdM
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
