MR-GLi：基于混合现实的夹爪联动覆盖层用于水下机器人手臂双边控制遥操作
MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
- The University of Osaka（大阪大学）
- Kobe University（神户大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
MR-GLi提出混合现实夹爪联动覆盖层，通过空间配准视觉反馈提升水下遥操作，实验证明其性能与2D显示器相当，但减轻了注意力转移负担。
AI中文摘要：
视觉扭矩反馈支持水下双边遥操作，但混合现实（MR）相对于传统显示器呈现的优势仍不明确。我们提出了MR-GLi，一种MR界面，将反作用扭矩指示器和腕部相机图像空间配准到机器人夹爪上。二十名参与者在平衡的受试者内比较中，使用相同的视觉反馈内容和四通道双边控制，在2D显示器下执行了刚性和柔性物体的提升和拾取放置任务。MR-GLi提供了夹爪联动的视觉反馈访问，同时保持了与2D显示器相似的扭矩调节性能。主观评估进一步表明，在工作空间和视觉反馈之间转移注意力的感知负担有所减轻。这些结果证明了夹爪联动MR覆盖层在水下双边遥操作中的可行性，并强调了在任务性能之外考虑信息访问的重要性。附加材料：此https URL
英文摘要：
Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants performed lift and pick-and-place tasks with rigid and compliant objects in a counterbalanced within-subject comparison with a 2D monitor, using identical visual-feedback content and four-channel bilateral control. MR-GLi provided gripper-linked access to visual feedback while maintaining a similar level of torque-regulation performance to the 2D monitor. Subjective evaluation further indicated reduced perceived burden associated with shifting attention between the workspace and visual feedback. These results demonstrate the feasibility of gripper-linked MR overlays for underwater bilateral teleoperation and highlight the importance of considering information access in addition to task performance. Additional material: https://mertcookimg.github.io/mr-gli/
