Point and Go：辅助机器人模式切换中的直观参考系重分配
Point and Go: Intuitive Reference Frame Reallocation in Mode Switching for Assistive Robotics
AI总结：
针对轮椅机械臂用户操作困难，提出Point and Go模式切换，通过扫掠指向定义平移轴并优化旋转模式，减少完成时间31%、暂停41%、模式切换33%。
摘要：
操作高自由度机器人对于轮椅安装的机械臂用户来说可能很困难。笛卡尔空间中的模式切换存在若干缺点，如不直观的控制参考系、平移与旋转控制分离，以及限制性能的有限运动能力。我们提出了Point and Go模式切换，将笛卡尔模式切换参考系重新分配到一个更直观的动作空间，该空间由新的平移和旋转模式组成。我们使用一种新颖的扫掠运动来指向夹爪，这定义了沿机器人基座框架水平面的新平移轴。这创建了一种直观的“指向并前进”平移模式，使用户无需切换控制模式即可轻松执行复杂的、类人的运动。该系统的旋转模式将位置控制与精细的末端执行器定向框架相结合，在各种末端执行器姿态下提供精确且一致的机器人动作。我们通过初步实验验证了其有效性，随后进行了一项包含三个任务的用户研究，将我们的方法与笛卡尔模式切换和一种最先进的学习方法进行了比较。结果表明，Point and Go模式切换将完成时间减少了31%，暂停减少了41%，模式切换减少了33%，同时在用户调查中获得了显著正面的反馈。
英文摘要：
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian space has several drawbacks such as unintuitive control reference frames, separate translation and orientation control, and limited movement capabilities that hinder performance. We propose Point and Go mode switching, which reallocates the Cartesian mode switching reference frames into a more intuitive action space comprised of new translation and rotation modes. We use a novel sweeping motion to point the gripper, which defines the new translation axis along the robot base frame's horizontal plane. This creates an intuitive `point and go' translation mode that allows the user to easily perform complex, human-like movements without switching control modes. The system's rotation mode combines position control with a refined end-effector oriented frame that provides precise and consistent robot actions in various end-effector poses. We verified its effectiveness through initial experiments, followed by a three-task user study that compared our method to Cartesian mode switching and a state of the art learning method. Results show that Point and Go mode switching reduced completion times by 31\%, pauses by 41\%, and mode switches by 33\%, while receiving significantly favorable responses in user surveys.
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。
