基于眼动追踪和触觉反馈的人-多机器人班组交互系统
Human-robot team interaction system based on eye tracking and haptic feedback
翟佳佳 1曾洪 1沈熠韬 1徐晓英 1孙燈峰1
作者信息
- 1. 东南大学 仪器科学与工程学院,南京 210096
- 折叠
摘要
针对在动态复杂、非结构化的场景中缺乏自然、高效人机交互方式的问题,提出了一种基于眼动追踪和触觉反馈的人 多机器人班组交互系统,用于管理由多机器人和人组成的团队.该系统利用混合现实头盔在现实世界中叠加虚拟交互界面,操作员通过基于凝视信号的非语言注意力感知的输入方法进行人机交互指令的输入,进而控制多机器人进行协同运动,同时操作员通过振动和挤压 2 种触觉反馈模态来感知多机器人系统编队队形的尺寸变化与编队完成状态.为了验证人机交互系统的有效性与可行性,设计了触觉反馈实验与人-多机器人班组交互系统实验,实验结果表明:所提出的基于眼动追踪和触觉反馈的人机交互系统能有效控制多机器人系统进行编队,指令执行成功率达93.3％,与仅通过视觉反馈相比,在有触觉反馈的情况下操作员可以使用更少的时间完成多机器人状态感知,交互效率提高了14.55％.
Abstract
To address the lack of natural and efficient human-robot interaction methods in dynamic and complex,unstructured scenarios,a human-robot team system based on eye tracking and haptic feedback was proposed for managing teams consisting of multiple robots and humans.The system used mixed reality technology to overlay a virtual interaction interface in the real world,and the operator performed the input of human-robot interaction commands through a hands-free interaction method based on non-verbal attention perception of gaze signals.Then the multi-robot system accepted the commands and performed cooperative movements.At the same time,haptic feedback patterns of dimensional change state and completion state of multi-robot system formation were designed to sense the motion state of multi-robot system.In order to verify the feasibility and viability of the human-robot interaction system,haptic feedback experiments and physical experiments of the human-multi-robot team interaction system was designed.The experimental results show that the proposed human-robot interaction system based on eye tracking and haptic feedback can effectively control the multi-robot system for formation with a 93.3%success rate of command execution,and the operator can use less time to complete the multi-robot state perception with haptic feedback compared with visual feedback only,and the interaction efficiency is improved by 14.55%.
关键词
触觉反馈/眼动追踪/人/多机器人班组/人机交互/多机器人系统Key words
haptic interfaces/eye tracking/human-robot team/human-centered robotics/multirobot sys-tems引用本文复制引用
出版年
2024
NETL
NSTL
万方数据