触覚が見える、遮蔽も見える：デジタルツインによる巧みな操作のための遠隔操作インターフェース
Now You Feel It, Now You See Me: Digital-Twin-based Teleoperation Interface for Dexterous Manipulation
裸手トラッキングによるロボットハンド遠隔操作において、力覚フィードバックと遮蔽領域の視覚フィードバックをデジタルツインARで補い、巧みな操作のデモ収集を支援するインターフェースを提案・評価した。
詳しい要約
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著者: Youngchan Shim, Kyutae Lee, JooYun Kim, Jaeseong Hwang, Harim Ji, Yongseok Lee
分類: cs.RO
原文アブストラクト
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.