Mick Sébastien, Badets Arnaud, Oudeyer Pierre-Yves, Cattaert Daniel, De Rugy Aymar
556371 Institut de Neurosciences Cognitives et Intégratives d'Aquitaine, Bordeaux, Nouvelle-Aquitaine, France.
113923 Inria Bordeaux Sud-Ouest, Talence, France.
Hum Factors. 2022 Mar;64(2):372-384. doi: 10.1177/0018720820941619. Epub 2020 Aug 18.
We investigated how participants controlling a humanoid robotic arm's 3D endpoint position by moving their own hand are influenced by the robot's postures. We hypothesized that control would be facilitated (impeded) by biologically plausible (implausible) postures of the robot.
Kinematic redundancy, whereby different arm postures achieve the same goal, is such that a robotic arm or prosthesis could theoretically be controlled with less signals than constitutive joints. However, congruency between a robot's motion and our own is known to interfere with movement production. Hence, we expect the human-likeness of a robotic arm's postures during endpoint teleoperation to influence controllability.
Twenty-two able-bodied participants performed a target-reaching task with a robotic arm whose endpoint's 3D position was controlled by moving their own hand. They completed a two-condition experiment corresponding to the robot displaying either biologically plausible or implausible postures.
Upon initial practice in the experiment's first part, endpoint trajectories were faster and shorter when the robot displayed human-like postures. However, these effects did not persist in the second part, where performance with implausible postures appeared to have benefited from initial practice with plausible ones.
Humanoid robotic arm endpoint control is impaired by biologically implausible joint coordinations during initial familiarization but not afterwards, suggesting that the human-likeness of a robot's postures is more critical for control in this initial period.
These findings provide insight for the design of robotic arm teleoperation and prosthesis control schemes, in order to favor better familiarization and control from their users.
我们研究了参与者通过移动自己的手来控制仿人机器人手臂的三维端点位置时，是如何受到机器人姿势影响的。我们假设，生物学上合理（不合理）的机器人姿势会促进（阻碍）控制。
运动冗余是指不同的手臂姿势可以实现相同的目标，因此理论上，控制机器人手臂或假肢所需的信号可以比组成关节的信号更少。然而，已知机器人的运动与我们自己的运动之间的一致性会干扰运动产生。因此，我们预计在端点遥操作过程中，机器人手臂姿势的类人性会影响可控性。
22名身体健全的参与者使用机器人手臂执行了一项目标到达任务，该机器人手臂的端点三维位置通过移动他们自己的手来控制。他们完成了一个双条件实验，对应于机器人展示生物学上合理或不合理的姿势。
在实验第一部分的初始练习中，当机器人展示类人姿势时，端点轨迹更快且更短。然而，这些效果在第二部分中没有持续，在第二部分中，不合理姿势的表现似乎受益于之前合理姿势的初始练习。
在初始熟悉阶段，生物学上不合理的关节协调会损害仿人机器人手臂的端点控制，但之后不会，这表明机器人姿势的类人性在这个初始阶段对控制更为关键。
这些发现为机器人手臂遥操作和假肢控制方案的设计提供了见解，以便更好地让用户熟悉和控制。
