发表机构
Institut Polytechnique de Paris; University of the West of England; IIT; Kempten University of Applied Sciences（巴黎综合理工学院; 西英格兰大学; 意大利理工学院; 肯普滕应用技术大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究设计并评估了一种用于机械臂的触摸屏远程操作界面，经20名参与者对比测试，该界面可缩短任务时间、提升路径精度并降低认知负荷，优于传统操纵杆。
AI 中文摘要
直观的远程操作界面对于在复杂环境中安全、有效地操作机械臂至关重要。在核工业中，擦拭采样等表面接触任务需要精确的路径与力跟踪、避障以及操作员持续的注意力，而传统的操纵杆界面难以有效支持这些需求。本研究设计并评估了一种新型触摸屏远程操作界面，该界面将连续的手指动作直接映射到机械臂的运动，提供更精细的速度控制，并将控制与可视化相结合，相比传统控制器，可实现更自然、精确且直观的表面交互。研究开展了包含20名参与者的对比用户研究，使用所提出的触摸屏、传统操纵杆和一键自主模式，评估任务性能与工作量。任务采用Franka Emika Panda机械臂模拟真实的表面操作，操作员从另一国家进行远程控制。研究记录了运动学、生理学和行为数据，以全面评估各控制条件下的任务性能、认知负荷和操作员信任度。结果显示，与操纵杆相比，参与者使用触摸屏界面完成远程操作任务的效率和准确性更高，完成时间中位数减少53.5%（2.50分钟对比5.38分钟），正弦路径的区域内覆盖率更高（90.7%对比84.1%），两种路径几何形状的超调量更低；通过NASA-TLX量表（0-100）量化的认知负荷，从操纵杆到触摸屏平均降低9分（52对比43，降幅17.3%），而一键自主模式下认知负荷最低（31，较操纵杆降低21分、降幅40.4%，较触摸屏降低12分、降幅27.9%）。本研究提出了一种易于实现的触摸屏界面，可提升远程操作表面任务的性能，同时降低认知负荷。
英文摘要
Intuitive teleoperation interfaces are crucial for the safe and effective operation of robotic manipulators in challenging environments. In the nuclear industry, surface contact tasks such as swab sampling require precise path and force tracking, obstacle avoidance, and sustained operator attention, which conventional joystick interfaces struggle to support effectively. This study designs and evaluates a novel touchscreen teleoperation interface that maps continuous finger movements directly to robotic manipulator motions, provides finer velocity control, and integrates control with visualization, enabling more natural, precise, and intuitive surface interaction than conventional controllers. A comparative user study with 20 participants evaluated task performance and workload using the proposed touchscreen, a conventional joystick, and a single-click autonomous mode. Tasks simulated realistic surface manipulation using a Franka Emika Panda arm, remotely controlled from another country. Kinematic, physiological, and behavioral data were recorded to comprehensively assess task performance, cognitive load, and operator trust across each control condition. Participants completed teleoperation tasks more efficiently and accurately with the touchscreen interface, achieving a 53.5% reduction in completion time (median: 2.50 vs. 5.38 min), higher in-area coverage on the sinusoidal path (90.7% vs. 84.1%), and lower overshoot on both path geometries compared with the joystick. Cognitive load, quantified via NASA-TLX (0-100), decreased from joystick to touchscreen (mean TLX 52 to 43; -9 points, -17.3%) and was lowest under the autonomous one-click mode (31; -21 points vs. joystick, -40.4%; -12 vs. touchscreen, -27.9%). This research presents an easy-to-implement touchscreen interface that improves performance in teleoperated surface tasks while reducing cognitive load.
Comments9 pages, 7 figures, accepted for presentation at the IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2026), Kitakyushu, Japan, 24-28 August 2026
