无硬件混合现实机器人实验室
Hardware-Free Robotics Laboratories in Mixed Reality
- Technical University of Munich（慕尼黑工业大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
提出MR-Robotics LAB混合现实平台，以真实尺度重放MATLAB机器人轨迹，评估显示低设置工作量和高接受度，为无硬件机器人教学提供可复用路径。
AI中文摘要：
机器人教学依赖于屏幕模拟，在抽象坐标系中展示机器人运动，而非在学习者自身空间中以真实尺度呈现，同时物理硬件的获取受到成本、安全和时间安排的限制。我们提出了MR-Robotics LAB，一个混合现实（MR）平台，可在学习者的物理环境中以真实尺度重放MATLAB生成的机器人轨迹。基于浏览器的服务验证MATLAB工作区文件（.mat），标准化单位，并发布带版本的JSON轨迹；Meta Quest 3上的Unity应用程序在位置控制下重现所编写的关节配置，并在支持碰撞检测和末端执行器抓取的物理场景中以声明帧率重放。一项针对工程学生的形成性单组评估发现，参与者报告了较低的设置工作量（5分量表上M=4.67），并感知到多视角检查对工作区理解的支持（M=4.56），83%的参与者表示愿意在入门机器人课程中使用该平台。评估工具仅记录感知结果，没有平衡设计或学习测量，因此未声称相对于桌面模拟的优越性。其贡献在于可复用的模拟到MR轨迹路径以及工程教育中无硬件机器人可视化的设计指导。
英文摘要：
Teaching robotics relies on screen-based simulation, showing robot motion in an abstract coordinate frame rather than at real scale in the learner's own space, while access to physical hardware is limited by cost, safety, and scheduling constraints. We present MR-Robotics LAB, a mixed-reality (MR) platform that replays MATLAB-generated robot trajectories at real scale within the learner's physical environment. A browser-based service validates a MATLAB workspace file (.mat), normalizes units, and publishes a versioned JSON trajectory; a Unity application on a Meta Quest 3 then reproduces the authored joint configurations under position control and replays them at the declared frame rate within a physics-enabled scene that supports collision detection and end-effector grasping. A formative single-group evaluation with engineering students found that participants reported low setup effort (M = 4.67 on a 5-point scale) and perceived support for workspace understanding from multi-viewpoint inspection (M = 4.56), and 83% of participants affirmed their willingness to use the platform in an introductory robotics course. The evaluation instrument records only perceived outcomes, without counterbalancing or a learning measure, so no comparative advantage over desktop simulation is claimed. The contribution is a reusable simulation-to-MR trajectory pathway and design guidance for hardware-free robot visualization in engineering education.
