AI 中文总结
本文提出一种名为RADMCS的可穿戴机器人，通过单目深度估计和推进器力反馈提供触觉引导，帮助水肺潜水员在受限空间中保持与水下结构的距离，实验证明10%最大推力即可有效引导人类运动。
AI 中文摘要
水肺潜水员被教导控制其深度，以避免快速上升和下降，这可能导致严重伤害，如气体栓塞和气压伤。然而，许多水下任务需要横向控制，即与海底结构（如珊瑚礁、水下钻井仪器或未爆炸弹药）保持距离。在这项工作中，我们讨论了一种首创的可穿戴机器人解决方案，该方案为潜水员提供推进器驱动的方向引导，这与先前的推进辅助外骨骼不同。我们介绍了“受限空间中的机器人辅助潜水员运动”（RADMCS），这是一种可穿戴机器人，通过利用单目深度估计中的感知技术和潜水推进器的力反馈来提供触觉反馈，帮助潜水员保持与海底结构的固定距离。其小巧紧凑的外形创建了一个基础平台，可扩展以包含更复杂的控制和导航行为。我们展示了机构审查委员会（IRB）批准的水中研究结果，涉及八名人类水肺潜水员参与者，在封闭水域游泳设施和海洋环境中进行了阈值灵敏度测试；在封闭水域设施中进行了距离保持实验；并在海洋中进行了形态、适配和功能测试。我们证明，相对较低的推力值（最大推力的10%）能够利用机器人引导的物理感觉来引导人类运动的方向。
英文摘要
Scuba divers are taught to control their depth to avoid rapid ascents and descents, which could result in serious injuries such as gas embolisms and barotrauma. However, many underwater tasks necessitate lateral control, maintaining distance between subsea structures such as coral reefs, submerged drilling instrumentation, or unexploded ordnance. In this work, we discuss a first-of-its-kind wearable robotic solution providing thruster-actuated directional guidance to a diver, as distinct from prior propulsive-assistance exoskeletons. We introduce ``Robotic Assisted Diver Movement in Confined Spaces'' (RADMCS), a wearable robot that assists divers in maintaining a fixed distance from subsea structures by leveraging perception techniques in monocular depth estimation and force-feedback from submersible thrusters to provide haptic feedback. Its small and compact form factor creates a foundational platform that could be expanded to include more sophisticated control and navigation behaviors. We present results from Institutional Review Board (IRB) in-water studies with eight human scuba diver participants on threshold sensitivity tests in both a closed-water swimming facility and ocean environments; distance-maintaining experiments in a closed-water facility; and form, fit, and function testing in the ocean. We demonstrate that relatively low thrust values (10 percent of maximum) allow robotic direction of a human's movement using the physical sensation of the robot's guidance.
