MR-GLi: 双方向制御による水中ロボットアーム遠隔操作のための混合現実ベースのグリッパ連動オーバーレイ
MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
水中双方向遠隔操作において、反力トルク表示と手首カメラ映像をロボットグリッパに空間的に重畳するMRインタフェースを提案し、2Dモニタと比較してトルク調整性能は同等ながら注意切替の負担が軽減されることを示した。
著者: Masashi Sasago, Masato Kobayashi, Yuki Uranishi
分類: cs.RO
原文アブストラクト
Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants performed lift and pick-and-place tasks with rigid and compliant objects in a counterbalanced within-subject comparison with a 2D monitor, using identical visual-feedback content and four-channel bilateral control. MR-GLi provided gripper-linked access to visual feedback while maintaining a similar level of torque-regulation performance to the 2D monitor. Subjective evaluation further indicated reduced perceived burden associated with shifting attention between the workspace and visual feedback. These results demonstrate the feasibility of gripper-linked MR overlays for underwater bilateral teleoperation and highlight the importance of considering information access in addition to task performance. Additional material: https://mertcookimg.github.io/mr-gli/