GAMORA：一种用于密闭等级环境中危险物料处理的手势铰接式元操作机械臂
GAMORA: A Gesture Articulated Meta Operative Robotic Arm for Hazardous Material Handling in Containment-Level Environments
AI总结：
针对高风险实验室人员暴露风险与操作精度需求，研究团队提出VR引导的GAMORA机器人系统，整合多硬件与逆运动学等技术，实现危险任务远程精准操作，兼具低功耗与可扩展性。
摘要：
机器人技术与虚拟现实（VR）的融合已为高风险实验室场景（尤其是病毒学实验室）带来了更安全、更高效的工作流程。随着生物危害复杂度不断提升，在保持操作精度的同时最大限度减少人员直接暴露已成为关键需求。我们提出GAMORA（手势铰接式元操作机械臂），这是一种新型VR引导的机器人系统，可通过自然手势远程执行危险任务。与现有的脚本化自动化或传统遥操作不同，GAMORA整合了Oculus Quest 2、NVIDIA Jetson Nano和机器人操作系统（Robot Operating System，ROS），可提供实时沉浸式控制、数字孪生仿真以及基于逆运动学的关节运动控制。该系统支持基于VR的训练与仿真，同时通过3D打印机械臂在物理环境中执行精密任务。逆运动学确保了样本处理、移液等精细操作的精准操控。整套流程包含基于Unity的3D环境构建、实时运动规划以及硬件在环测试。GAMORA的平均位置偏差达到2.2毫米（较此前的4毫米有所提升），移液精度控制在0.2毫升以内，在50次试验中的重复精度为1.2毫米。通过YOLOv8集成的目标检测功能增强了空间感知能力，同时节能运行模式（功率输出降低50%）保障了可持续部署。该系统的数字-物理反馈回路可实现高风险实验室任务的安全、精准且可重复的自动化。GAMORA为生物医学研究环境中的机器人控制与生物安全提供了一种可扩展的沉浸式解决方案。
英文摘要：
The convergence of robotics and virtual reality (VR) has enabled safer and more efficient workflows in high-risk laboratory settings, particularly virology labs. As biohazard complexity increases, minimizing direct human exposure while maintaining precision becomes essential. We propose GAMORA (Gesture Articulated Meta Operative Robotic Arm), a novel VR-guided robotic system that enables remote execution of hazardous tasks using natural hand gestures. Unlike existing scripted automation or traditional teleoperation, GAMORA integrates the Oculus Quest 2, NVIDIA Jetson Nano, and Robot Operating System (ROS) to provide real-time immersive control, digital twin simulation, and inverse kinematics-based articulation. The system supports VR-based training and simulation while executing precision tasks in physical environments via a 3D-printed robotic arm. Inverse kinematics ensure accurate manipulation for delicate operations such as specimen handling and pipetting. The pipeline includes Unity-based 3D environment construction, real-time motion planning, and hardware-in-the-loop testing. GAMORA achieved a mean positional discrepancy of 2.2 mm (improved from 4 mm), pipetting accuracy within 0.2 mL, and repeatability of 1.2 mm across 50 trials. Integrated object detection via YOLOv8 enhances spatial awareness, while energy-efficient operation (50% reduced power output) ensures sustainable deployment. The system's digital-physical feedback loop enables safe, precise, and repeatable automation of high-risk lab tasks. GAMORA offers a scalable, immersive solution for robotic control and biosafety in biomedical research environments.
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