论文标题
可视化预期的帮助以接受共享控制
Visualization of Intended Assistance for Acceptance of Shared Control
论文作者
论文摘要
在共享控制中，应用自动机器人技术的进步来帮助授权人类用户运行机器人系统。尽管这些系统已被证明可以提高效率和运营成功，但用户并不总是接受与辅助控制器合作产生的新控制范式。性能与接受之间的这种不匹配可以防止用户利用共享控制系统用于机器人操作的好处。为了解决此不匹配，我们开发了多种类型的可视化，以提高辅助控制器的可读性和可预测性，然后进行用户研究以评估这些可视化对用户对共享控制系统的接受的影响。我们的结果表明，必须仔细设计共享的控制可视化，以使其有效，用户需要可视化来提高辅助控制器的可读性和可预测性，以便自愿放弃控制。
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of the new control paradigm produced by working with an assistive controller. This mismatch between performance and acceptance can prevent users from taking advantage of the benefits of shared control systems for robotic operation. To address this mismatch, we develop multiple types of visualizations for improving both the legibility and perceived predictability of assistive controllers, then conduct a user study to evaluate the impact that these visualizations have on user acceptance of shared control systems. Our results demonstrate that shared control visualizations must be designed carefully to be effective, with users requiring visualizations that improve both legibility and predictability of the assistive controller in order to voluntarily relinquish control.
