Human-Robot Shared Control for Humanized End-Effector Teleoperation

摘要

Recent advances in robotics have enabled robots to operate in shared human environments, emphasizing the importance of effective human robot interaction HRI. Prior studies indicate that anthropomorphism, defined as the incorporation of human like features into robotic systems, facilitates more natural interaction and enhances both task performance and user experience. In robotic arm teleoperation, however, user controlled motions often deviate from human like kinematic characteristics due to intrinsic limitations of teleoperation systems. In this work, we propose a real time framework that generates human like end effector trajectories based on the two thirds power law of voluntary human hand movements, while preserving the operators intended control inputs. The proposed approach is validated through real world experiments conducted on a 6 degree of freedom Dobot CR10 robotic arm. Quantitative analysis demonstrates that the generated trajectories exhibit significantly stronger adherence to human like kinematic profiles compared to conventional teleoperation, with the estimated beta coefficient moving 39.7% closer on average to the theoretical value of 1/3. Furthermore, the method achieves an approximate 34% improvement in motion smoothness, measured by RMS torque rate reduction, with 80% of evaluated motion patterns showing statistically significant improvements while maintaining comparable task completion times.