发表机构
Université catholique de Louvain (UCLouvain); Ritsumeikan University（鲁汶大学; 立命馆大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出并比较了基于XR笔、运动控制器、手势及计算机基线的四种半自主移动机器人导航控制界面，实验表明XR笔选择时间最优，运动控制器感知负荷与可用性最佳，支持XR控制作为新手用户的直观替代方案。
AI 中文摘要
服务机器人在家庭环境中的部署仍然困难，部分原因是完全自主操作在不可预测的环境中尚不可靠，部分原因是传统控制方法对新手用户而言仍难以掌握。扩展现实（XR）使操作员能够将机器人信息叠加显示在真实世界上，并与增强元素进行交互。然而，常见的XR控制方法，如运动控制器和手势，仍被认为不够直观。本文提出了一种使用商用XR笔在增强现实（AR）中命令半自主移动机器人的控制界面：操作员指向房间中的某个位置，选择该位置，并拖动一个增强箭头来设置机器人在该目的地的期望朝向。在同一框架内，还开发了基于XR运动控制器和手势的另外两种界面。为了评估这些界面（特别是XR笔）的性能和用户感知，一项有10名参与者参与的研究比较了四种控制方法，即XR笔、XR运动控制器、手势以及基于计算机的基线RViz，在类似家庭的环境中执行导航任务。结果表明，XR笔在任务选择时间上显著优于其他方法，且选择最一致；XR运动控制器在感知工作量和可用性评分上获得最佳结果，领先于基于计算机的基线，支持基于XR的控制作为新手用户的直观替代方案。然而，最近发布的XR笔在集成方面的技术限制目前制约了其用户体验。
英文摘要
Service robots remain difficult to deploy in domestic environments, partly because fully autonomous operation is not yet reliable in unpredictable surroundings, and partly because conventional control methods remain inaccessible to novice users. Extended Reality (XR) enables operators to visualize robot information overlaid onto the real world and to interact with augmented elements. Yet, common XR control methods, such as motion controllers and hand gestures, are still perceived as unintuitive. This paper presents a control interface that uses a commercial XR pen to command a semi-autonomous mobile robot in Augmented Reality (AR): the operator points at a position in the room, selects it, and drags an augmented arrow to set the desired orientation of the robot at this destination. Two additional interfaces, based on the XR motion controllers and hand gestures, were developed within the same framework. To assess the performance and users' perception of these interfaces, and of the XR pen in particular, a study with 10 participants compared four control methods, i.e., the XR pen, the XR motion controllers, hand gestures, and a computer-based baseline RViz, in navigation tasks performed in a home-like environment. Results show that the XR pen significantly outperforms the other methods in task selection time with the most consistent selections, and that the XR motion controllers obtain the best perceived workload and usability scores, ahead of the computer-based baseline, supporting XR-based control as an intuitive alternative for novice users. However, technical limitations in the integration of the recently released XR pen currently hold back its user experience.
CommentsSubmitted for presentation at the 2027 IEEE/SICE International Symposium on System Integration (SII), Kobe, Japan
