标题： 一种具有触觉反馈的沉浸式虚拟现实双臂遥操作系统 显示英文标题

标题： An Immersive Virtual Reality Bimanual Telerobotic System With Haptic Feedback

摘要： 在机器人双臂遥操作中，多模态感官反馈起着关键作用，为操作员提供更沉浸的操作体验，减轻认知负担，并提高操作效率。 在本研究中，我们开发了一个沉浸式双向同构双臂遥操作系统，包括双臂和双灵巧手，具有视觉和触觉力反馈。 为了评估该系统的表现，我们进行了一系列实验并研究了用户的遥操作体验。 结果表明，触觉力反馈增强了物理感知能力和复杂任务操作能力。 此外，它弥补了视觉感知的不足，减轻了操作员的工作负担。 因此，我们提出的系统实现了更加直观、真实和沉浸的遥操作，提高了操作效率，并通过遥操作扩展了机器人能够执行的任务复杂性。 显示英文摘要

摘要： In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an immersive bilateral isomorphic bimanual telerobotic system, which comprises dual arm and dual dexterous hands, with visual and haptic force feedback. To assess the performance of this system, we carried out a series of experiments and investigated the user's teleoperation experience. The results demonstrate that haptic force feedback enhances physical perception capabilities and complex task operating abilities. In addition, it compensates for visual perception deficiencies and reduces the operator's work burden. Consequently, our proposed system achieves more intuitive, realistic and immersive teleoperation, improves operating efficiency, and expands the complexity of tasks that robots can perform through teleoperation.