用于皮肤覆盖机器人手臂的触觉退缩反射的设计与人体评估
Design and Human Evaluation of Tactile Withdrawal Reflexes for a Skin-Covered Robot Arm
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中文总结 AI 辅助
研究机器人手臂人工伤害感受，提出将压力变化映射到退缩动作的流程，比较三种反射。通过用户研究发现均匀反射在多项指标上获高评价，表明行为可预测性对用户接受很关键，笛卡尔反射被认为最适合触摸，生物启发反射表现不佳。
中文摘要 AI 辅助
伤害感受是一种将有害刺激与反应联系起来的保护性生物机制。本文研究了具有全身触觉传感的机器人手臂的人工伤害感受。我们提出了一个完整的流程，将机器人操纵器上敏感皮肤的压力变化映射到受生物启发的退缩动作。该系统首先使用非线性连续模型将皮肤压力转换为标量疼痛增益。我们比较了三种反射：（i）均匀反射使四个机器人关节移动固定量，退缩通过手臂“向基座”的移动来近似，与机器人被触摸的位置无关；（ii）基于人类退缩反射特征的生物驱动的位置相关关节空间退缩；（iii）沿接触皮肤垫表面法线的笛卡尔空间退缩。所有行为都集成在一个反射控制器中，该控制器中断任务、执行退缩并返回预接触姿势。一项有15名参与者的用户研究使用了Godspeed问卷子量表、自定义的感知自然度和安全项目、强制选择比较以及定性反馈来比较这些策略。有趣的是，在拟人化、生动性和可爱性的Godspeed子量表以及自然度和真实感自定义量表上，参与者对均匀反射行为的评价高于一个或两个竞争对手。当被要求比较这些条件时，均匀反射在“感觉最安全”、“最像人类”和“最自然”方面得分最高。这表明机器人行为的可预测性是用户接受的关键。笛卡尔反射被认为是对触摸最合适的反应。生物启发反射在任何评估指标上都没有领先。这可能部分归因于机器人手臂和人类手臂之间的实体差距以及参与者对机器人操纵器有不同的期望。
英文摘要
Nociception is a protective biological mechanism that links harmful stimulation to a reaction. This paper investigates artificial nociception for a robotic arm with whole-body tactile sensing. We present a complete pipeline that maps pressure changes from sensitive skin on a robot manipulator to bio-inspired withdrawal motions. The system first converts skin pressure into a scalar pain gain using a nonlinear continuous model. We compare three reflexes: (i) uniform reflex moves four robot joints by a fixed amount, whereby the withdrawal is approximated by a movement of the arm "toward the base", independent of where the robot was touched; (ii) biologically motivated location-dependent joint-space withdrawal derived from human withdrawal reflex characteristics; (iii) Cartesian space withdrawal along the surface normal of the contacted skin pad. All behaviors are integrated in a reflex controller that interrupts the task, executes the withdrawal, and returns to a pre-contact pose. A user study with 15 participants compared the strategies using Godspeed questionnaire subscales, custom perceived-naturalness and safety items, forced-choice comparisons, and qualitative feedback. Interestingly, participants rated more highly the uniform reflex behavior over one or both competitors on the anthropomorphism, animacy, and likeability Godspeed subscales and on the Naturalness and Realism custom scale. When asked to compare the conditions, the uniform reflex was scored best in "felt safest", "most human-like", and "most natural". This suggests that predictability of the robot behavior is key for user acceptance. The Cartesian reflex was judged the most appropriate reaction to touch. The bio-inspired reflex did not lead any evaluated measure. This may be partly attributed to the embodiment gap between the robot arm and human arm and participants having different expectations from a robot manipulator.
发表机构
- Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克技术大学电气工程学院控制论系）
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