扩展现实作为人机协作中情境化人类控制的中介层
Extended Reality as a Mediation Layer for Situated Human Control in Human-Robot Teaming
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中文总结 AI 辅助
研究探讨扩展现实在人机协作中作为情境化人类控制中介层的作用，通过床边护理等场景阐述观点，确定四种中介功能和六个设计维度，为使机器人自主性在动态环境中更具操作性和问责性的XR系统规划研究议程。
中文摘要 AI 辅助
扩展现实（XR）越来越多地用于人机交互，以传达机器人意图、计划运动、可达性和状态。我们认为XR也应被理解为人机协作中情境化人类控制的中介层。情境化人类控制指人类协作者在机器人行动展开的具体物理、社会和时间背景下理解、塑造、授权和中断机器人行动的能力。我们通过机器人辅助床边护理、多臂监督控制和注意力分散下的协作装配场景来阐述这一观点。在这些场景中，随着人员移动、目标变化、感知不完整、控制角色转变和计划失效，机器人自主性必须保持可检查和可调整。我们确定了连接人类意图和机器人自主性、机器人计划和人类判断、共享控制水平以及团队角色、交接和恢复的四种中介功能。基于这些功能，我们得出六个设计维度：联合行动可能性、社会物理约束、不确定性和计划有效性、多模态控制和校正、角色、交接和问责以及预期恢复。本文概述了使机器人自主性在动态共享环境中更具可操作性和可问责性的XR系统的研究议程。
英文摘要
Extended Reality (XR) is increasingly used in human-robot interaction to communicate robot intent, planned motion, reachability, and state. We argue that XR should also be understood as a mediation layer for situated human control in human-robot teaming. Situated human control denotes the human collaborator's ability to understand, shape, authorize, and interrupt robot action within the concrete physical, social, and temporal context in which that action unfolds. We ground this perspective in scenarios from robot-assisted bedside nursing, multi-arm supervisory control, and collaborative assembly under divided attention. Across these scenarios, robot autonomy must remain inspectable and adjustable as people move, goals change, sensing is incomplete, control roles shift, and plans become invalid. We identify four mediation functions connecting human intent and robot autonomy, robot plans and human judgment, levels of shared control, and team roles, handover, and recovery. Building on these functions, we derive six design dimensions: joint action possibilities, socio-physical constraints, uncertainty and plan validity, multimodal control and correction, roles, handover, and accountability, and anticipatory recovery. The paper outlines a research agenda for XR systems that make robot autonomy more actionable and accountable in dynamic shared environments.
发表机构
- Coburg University of Applied Sciences and Arts（科堡应用科学与艺术大学）
- University of Cambridge（剑桥大学）
- University of Birmingham（伯明翰大学）
机构由 AI 辅助整理，请以论文原文为准。
