In the field of rehabilitation robotics, a mobile personal robot represents an attractive solution, especially in economic terms in comparison with a desktop workstation. A manipulator arm mounted on a mobile robot can facilitate the restoration of the disabled user's manipulative function. In order both to encourage the person to participate in the task at hand and to be cost effective, close human-machine cooperation is essential. The person controls the robot via a remote station and develops strategies to successfully carry out a mission. The main problems encountered by the person during the execution of a mission are electing to change modes, and the mode transition itself. We have examined two aspects of this cooperation: 1) information exchange between human and machine for decision-making and 2) giving to operators complementary and redundant modes to command the system. An experiment has been conducted to study these two aspects. This paper focuses on the control of robot movements in an indoor environment and especially on localization parameters, human-like robot behavior, and the value of proposing complementary control modes to the operator.

译文

在康复机器人领域,移动个人机器人代表了一种有吸引力的解决方案,尤其是在经济方面与台式工作站相比。安装在移动机器人上的机械臂可以方便地恢复残疾用户的操纵功能。为了鼓励人员参与手头的任务并具有成本效益,紧密的人机合作至关重要。该人通过远程站控制机器人,并制定成功执行任务的策略。人员在执行任务期间遇到的主要问题是选择更改模式以及模式转换本身。我们研究了这种合作的两个方面: 1) 人机之间的信息交换以进行决策; 2) 为操作员提供互补和冗余的模式来指挥系统。已经进行了实验来研究这两个方面。本文着重于室内环境中机器人运动的控制,尤其是定位参数,类人机器人行为以及对操作员提出互补控制模式的价值。

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