发表机构
DGIST; Seoul National University（大邱庆北科学技术院; 首尔大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对裸手遥操作缺乏力反馈和遮挡视觉反馈的问题，提出基于数字孪生的AR遥操作界面，通过视觉-力反馈和遮挡缓解视觉辅助，经用户研究验证其支持精细力调节和遮挡下的示范收集。
AI 中文摘要
遥操作对于收集高质量示范以教授机器人灵巧操作技能变得越来越重要。对于灵巧操作，裸手跟踪提供了一种无需手套或外骨骼即可控制机器人手并演示协调手指运动的实用方法。然而，这种类型的遥操作面临两个关键的反馈限制：缺乏力反馈和遮挡区域的视觉反馈。力反馈的缺失阻碍了精确和安全操作，因为操作员必须通过视觉推断接触力，而不是直接感受它们。物体或其他机器人部件的遮挡损害了对手部位置、接近距离以及适合物体形状的预抓取配置的评估。为了解决这些限制，我们提出了一种基于数字孪生的增强现实（AR）遥操作界面，该界面集成了裸手跟踪、双手机器人手以及机器人和任务对象的虚拟表示。该界面将机器人手网格上的触觉测量渲染为视觉-力反馈。此外，它提供了一个用户控制的虚拟视图面板或遮挡感知的透明度渲染，以提供减轻遮挡的视觉反馈。我们通过涉及任务1和任务2的用户研究评估了该界面，考察了力可视化和视觉辅助如何在需要精细力调节和遮挡下操作的任务中支持示范收集。
英文摘要
Teleoperation is becoming increasingly important for collecting high-quality demonstrations to teach robots dexterous manipulation skills. For dexterous manipulation, bare-hand tracking provides a practical way to control robotic hands and demonstrate coordinated finger movements without gloves or exoskeletons. However, this type of teleoperation faces two key feedback limitations: a lack of force feedback and visual feedback of occluded region. The absence of force feedback hinders precise and safe manipulation, as operators must infer contact force visually rather than feel them directly. Occlusion by objects or other robot parts impairs the assessment of hand positions, approach distances, and pre-grasp configurations suited to the object's shape. To address these limitations, we propose a digital-twin-based augmented reality (AR) teleoperation interface that integrates bare-hand tracking, bimanual robotic hands, and virtual representations of the robot and task objects. The interface renders tactile measurements on robot hand meshes as visuo-force feedback. Furthermore, it offers a user-controlled virtual view panel or occlusion-aware transparency rendering to provide occlusion-mitigating visual feedback. We evaluated the interface through user studies involving Task 1 and Task 2, examining how force visualization and visual assistance support demonstration collection in tasks requiring careful force regulation and manipulation under occlusion.
Comments8 pages, 5 figures, 4 tables
