指尖上的远程表面：基于电振动的触觉反馈用于通过触摸屏界面的机器人遥操作
Remote Surfaces at Your Fingertips: Electrovibration-Based Tactile Feedback for Robot Teleoperation via Touchscreen Interfaces
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中文总结 AI 辅助
针对遥操作中力反馈不稳定和延迟问题，提出基于电振动的触觉反馈界面，用户研究显示其显著降低响应时间15.35%并提升临场感31%。
中文摘要 AI 辅助
让操作者能够自然地感知并与远程环境交互，是机器人遥操作中的一个基本挑战。这在涉及物理交互的任务中尤为关键，因为实时的触觉感知能提高操作的安全性和有效性。现有的动觉触觉反馈方法在刚性表面接触时存在不稳定性，并且对通信延迟敏感，而基于视觉线索的力反馈则增加了额外的认知负荷，并限制了持续的情境感知能力。本工作提出了一种遥操作界面，通过基于电振动的触觉反馈将远程表面交互传递给操作者，实现自然映射的力反射，同时避免了动觉反馈相关的稳定性问题以及机械执行器的延迟限制。一项用户研究（N=21）在两种力反馈条件下评估了界面可用性、临场感和操作者工作负荷：视觉反馈和基于电振动的触觉反馈。特征实验进一步评估了两种条件下的路径跟踪精度和响应时间。结果表明，与视觉反馈相比，触觉反馈显著将响应时间降低了15.35%（p=0.002，d=0.96），并将临场感提高了31%（p<0.001，d=0.90），同时两种条件下的工作负荷和可用性相当。这些发现表明，基于电振动的触觉反馈是机器人遥操作中一种可行且有效的模态，在接触密集的操作任务中提高了操作者的响应能力和临场感，并可直接应用于核维护等安全关键领域。
英文摘要
Enabling operators to perceive and interact with remote environments naturally is a fundamental challenge in robotic teleoperation. This is especially critical in tasks involving physical interaction, where real-time haptic awareness improves operational safety and effectiveness. Existing kinesthetic haptic feedback methods suffer from instability during rigid surface contacts and remain sensitive to communication delays, while visual cue-based force feedback imposes additional cognitive load and limits sustained situational awareness. This work presents a teleoperation interface that conveys remote surface interactions to the operator through electrovibration-based tactile feedback, enabling naturally mapped force reflection while avoiding the stability issues associated with kinesthetic feedback and the latency limitations of mechanical actuators. A user study (N=21) evaluated interface usability, sense of presence, and operator workload under two force reflection conditions: visual feedback and electrovibration-based tactile feedback. Characterisation experiments further assessed path-following accuracy and response time across both conditions. Results show that tactile feedback significantly reduced response time by 15.35% (p=0.002, d=0.96) and increased the sense of presence by 31% (p<0.001, d=0.90) compared to visual feedback, while imposing comparable workload and usability across both conditions. These findings demonstrate that electrovibration-based tactile feedback is a viable and effective modality for robot teleoperation, improving operator responsiveness and sense of presence in contact-rich manipulation tasks, with direct applicability to safety-critical domains such as nuclear maintenance.
发表机构
- University of the West of England（西英格兰大学）
- Bristol Robotics Laboratory（布里斯托机器人实验室）
- ENSTA, Institut Polytechnique de Paris（巴黎综合理工学院ENSTA）
- Autonomous Systems and Robotics Lab（自主系统与机器人实验室）
机构由 AI 辅助整理，请以论文原文为准。
