论文标题
辅助机器人中意外接口操作的定制处理
Customized Handling of Unintended Interface Operation in Assistive Robots
论文作者
论文摘要
我们提出了一个援助系统，该系统建议人类在机器人远距离运行期间的预期行动，以便为意外行为提供适当的修正。我们在机器人远距离过程中与控制界面的物理互动建模，并明确区分预期和测量的物理动作。通过使用基于模型的推理技术对未观察到的意图进行推理，我们的辅助系统可以对用户发行的命令进行自定义更正。我们通过一项10人的人类学科研究来验证算法，在其中评估了拟议的援助范例的性能。我们的结果表明，援助范式有助于大大减少任务完成时间，模式开关数量，认知工作量和用户挫败感，并提高整体用户满意度。
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface during robot teleoperation and distinguish between intended and measured physical actions explicitly. By reasoning over the unobserved intentions using model-based inference techniques, our assistive system provides customized corrections on a user's issued commands. We validate our algorithm with a 10-person human subject study in which we evaluate the performance of the proposed assistance paradigms. Our results show that the assistance paradigms helped to significantly reduce task completion time, number of mode switches, cognitive workload, and user frustration and improve overall user satisfaction.
