Abstract
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation framework that enhances the operator's Sense of Embodiment (SoE), specifically, the senses of agency and self-location, through an immersive virtual reality interface and distributed haptic feedback via an exoskeleton. To support this embodiment and stablish high level of motion and force transparency, we develop a force-sensorless, robust control architecture that tackles input nonlinearities, master-slave asymmetries, unknown uncertainties, and arbitrary time delays. A human-robot augmented dynamic model is integrated into the control loop to enhance human-adaptability of the controller. Theoretical analysis confirms semi-global uniform ultimate boundedness of the closed-loop system. Extensive real-world experiments demonstrate high accuracy tracking under up to 1:13 motion scaling and 1:1000 force scaling, showcasing the significance of the results. Additionally, the stability-transparency tradeoff for motion tracking and force reflection-tracking is establish up to 150 ms of one-way fix and time-varying communication delay. The results of user study with 10 participants (9 male and 1 female) demonstrated that the system can imply a good level of SoE (76.4%), at the same time is very user friendly with no gender limitation. These results are significant given the scale and weight of the heavy-duty manipulators.
Abstract (translated)
在涉及重型操作臂的人机闭环系统（如遥操作系统）中，实现高任务性能不仅需要坚固的控制技术，还需要强大的人类参与。本文提出了一种双边遥操作系统框架，通过沉浸式虚拟现实界面和外骨骼提供的分布式触觉反馈，增强了操作员的身体感（Sense of Embodiment, SoE），特别是代理意识和自我定位感。 为了支持这种身体化并建立高水平的动作和力透明度，我们开发了一个无需力传感器的坚固控制架构。该架构处理输入非线性、主从不对称性、未知不确定性以及任意时延问题。我们将人机增强动态模型整合到控制回路中，以提高控制器的人类适应性。理论分析证实了闭环系统的半全局一致最终有界性。 大量现实世界实验展示了在1:13动作缩放和1:1000力缩放条件下实现了高精度跟踪，突显了研究结果的重要性。此外，在单向固定延迟（长达150毫秒）以及变化时间延迟的情况下，我们建立了运动跟踪与力反馈跟踪之间的稳定性和透明性权衡。 一项涉及10名参与者（9名男性和1名女性）的用户研究表明，该系统能够实现良好的SoE水平（76.4%），同时易于使用且没有性别限制。考虑到重型操作臂的规模和重量，这些结果具有重要意义。
URL
https://arxiv.org/abs/2505.14486
