TeleHairing：机器人理发遥操作基线
TeleHairing: A Teleoperation Baseline for Robotic Haircutting
- University of Oulu（奥卢大学）
- Shaoyang University（邵阳学院）
- Jishou University（吉首大学）
- University of Exeter（埃克塞特大学）
- University of Naples Federico II（那不勒斯腓特烈二世大学）
- VTT Technical Research Centre of Finland（芬兰国家技术研究中心）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
提出TeleHairing闭环遥操作架构，用于机器人理发评估，量化部署和中断影响，远程延迟主要发生在端点前，误差集中于撤回段，为自主性研究提供基线。
AI中文摘要：
机器人理发需要在头部附近进行受控的工具运动，同时需考虑通信、视觉反馈、工具驱动和中断处理。现有研究在人体试验或更强的自主性之前，仍缺乏操作员在环参考来分析这些耦合行为。本文提出了TeleHairing，一种闭环遥操作架构，用于在本地、中继和远程部署条件下进行基于假人的机器人理发评估。记录的时间显示，主要的远程延迟增加发生在机器人侧控制端点之前：远程模式下的总体时间达到190.5毫秒，而机器人侧命令队列、控制处理和控制到机器人的时间在各模式下保持相似。轨迹分析表明，较大的远程命令跟随误差主要由终端撤回段主导，而非沿路径均匀累积；排除该段后，远程均方根误差（RMSE）从45.1毫米降至9.6毫米。检测丢失试验进一步表明，在测试条件下，重新基准事件恢复了运动，没有出现大的目标跳跃。这些结果阐明了部署、执行和中断如何影响机器人理发遥操作回路，为未来的自主性、安全性和面向用户的研究提供了定量参考。
英文摘要：
Robotic haircutting requires controlled tool motion near the head while simultaneously accounting for communication, visual feedback, tool actuation, and interruption handling. Existing studies still lack an operator-in-the-loop reference for analyzing these coupled behaviors before human trials or stronger autonomy. This paper presents TeleHairing, a closed-loop teleoperation architecture for mannequin-based robotic haircutting evaluation under local, relay, and remote deployment conditions. Logged timing shows that the main remote latency increase occurs before the robot-side control endpoint: overall timing reached 190.5~ms in remote mode, while robot-side command queue, control processing, and control-to-robot timing remained similar across modes. Trajectory analysis shows that the larger remote command-following error was dominated by the terminal withdrawal segment rather than accumulated uniformly over the path; excluding this segment reduced remote root-mean-square error (RMSE) from 45.1 mm to 9.6 mm. Detection-loss trials further show that rebase events resumed motion without a large target jump under the tested condition. These results clarify how deployment, execution, and interruption affect the robotic haircutting teleoperation loop, providing a quantitative reference for future autonomy, safety, and user-facing studies.
