拡張現実を媒介層とする人間とロボットのチームにおける状況的制御
Extended Reality as a Mediation Layer for Situated Human Control in Human-Robot Teaming
XRを人間とロボットのチームにおける状況的制御の媒介層として捉え、看護支援や多腕遠隔操作、協調組立などのシナリオから設計次元を導出する研究アジェンダを提案した論文。
著者: Jens Grubert, John Dudley, Eyal Ofek, Per Ola Kristensson
分類: cs.HC, cs.AI, cs.RO
原文アブストラクト
Extended Reality (XR) is increasingly used in human-robot interaction to communicate robot intent, planned motion, reachability, and state. We argue that XR should also be understood as a mediation layer for situated human control in human-robot teaming. Situated human control denotes the human collaborator's ability to understand, shape, authorize, and interrupt robot action within the concrete physical, social, and temporal context in which that action unfolds. We ground this perspective in scenarios from robot-assisted bedside nursing, multi-arm supervisory control, and collaborative assembly under divided attention. Across these scenarios, robot autonomy must remain inspectable and adjustable as people move, goals change, sensing is incomplete, control roles shift, and plans become invalid. We identify four mediation functions connecting human intent and robot autonomy, robot plans and human judgment, levels of shared control, and team roles, handover, and recovery. Building on these functions, we derive six design dimensions: joint action possibilities, socio-physical constraints, uncertainty and plan validity, multimodal control and correction, roles, handover, and accountability, and anticipatory recovery. The paper outlines a research agenda for XR systems that make robot autonomy more actionable and accountable in dynamic shared environments.