发表机构
University of California, San Diego（加利福尼亚大学圣迭戈分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出一种改进的幻影设备作为物理孪生，支持人机物理交互算法的真实强化学习测试，并展示其多关节运动渲染能力。
AI 中文摘要
人机物理交互（pHRI）的改进可能对物理治疗、搜索救援和远程医疗产生重大影响。然而，一个主要挑战涉及人机物理实验中的人体约束与安全性。关于人体研究的顾虑还包括可重复性、可扩展性和参与者多样性。要进行此类实验，需要机构审查委员会（IRB）和自愿参与的人类受试者。在本工作中，我们提出了一种改进的幻影设备，即物理孪生，它能够为物理交互算法实现真实的强化学习（RL）型测试。新设备不仅复制了肩部的球窝运动，还呈现了肩胛骨运动以及前伸/后缩运动。实验展示了该设备呈现多种三维关节限制的能力，并演示了Franka Panda机械臂感知限制并与该设备交互，作为日常生活活动（ADLs）和pHRI任务的机械臂。
英文摘要
Improvements in human-robot physical interaction (pHRI) can have major implications for physical therapy, search and rescue, and telemedicine. However, a major challenge concerns human constraints and safety in human-robot physical experiments. Concerns about human studies also include repeatability, scalability, and participant diversity. To conduct such experiments, an IRB and willing human participants are required. In this work, we present an improved phantom device, a physical twin, that enables real-world RL-type testing for physically interactive algorithms. The new device not only replicates the ball-and-socket motion of the shoulder but also renders scapular and protraction/retraction motions. The experiments showcase the device's ability to render multiple 3D joint limits and demonstrate a Franka Panda arm sensing limits and interacting with the device as an arm for ADLs (activities of daily living) and pHRI tasks.
Comments8 pages, 7 figures
