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A study of bidirectionally telepresent tele-action during robot-mediated handover

机译：机器人介导的切换过程中双向遥传遥信的研究

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The addition of manipulation capabilities to telepresence robots holds the promise of enabling remote humans to perform tele-labor, hands-on training, and collaborative manipulation, but the use of a robot as a mediator to humanhuman physical interaction is not yet well understood. This paper studies the impact of telepresence modalities in the context of robot-mediated object handover. A teleoperation system was developed involving a bimanual mobile manipulator with telepresence head and sensing capabilities, and a user study was conducted with n=10 pairs of subjects under a variety of audio and visual telepresence conditions. Results show that telepresence does not significantly affect objective handover fluency, but both audio and video telepresence do significantly improve user experience on subjective measures including intimacy and perceived fluency.
机译：远程呈现机器人增加了操纵功能，有望使远程人员能够执行远程劳动，动手训练和协作操纵，但是对于将机器人用作人类物理交互的调解者，人们尚无甚了解。本文研究了远程呈现方式对机器人介导的对象切换的影响。开发了一种远程操作系统，该系统涉及具有远程呈现头和感应功能的双手移动操纵器，并且在各种音频和视觉远程呈现条件下，对n = 10对对象进行了用户研究。结果表明，网真不会显着影响目标切换的流畅度，但是音频和视频网真确实会极大改善用户在使用亲密感和感知流畅度等主观衡量指标上的体验。

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