以人为中心的机器人系统的人机交互技术

以人为中心的机器人系统(HCR)强调以人为本、人机合作的思想，主要用于动态、非结构化的环境和必需有人机共同完成的任务。笔者提出了基于穿戴计算的人机接口，使HCR的人机交互不受时间、空间的限制。通过增强现实，机器人的状态、报警等重要信息成为输出通道传输的重点，有效地减少了对信息传输带宽和再现信息的资源占用，减轻操作者的负担，进而提高HCR操作者对本地状态的意识和对远程环境的感知。通过并行、互补的多通道及整合、融合多个输入信息的方法，消除信息的多又性和噪声，从根本上克服当前人机交互的输入瓶颈，实现更加高效、人性化的HCR人机交互。

Status Quo and Expectation of Human-machine Interaction in HCR

Human-centered idea and human-machine collaboration are emphasized in the Human Centered Robotics, which is mainly used for human-machine cooperation required mission in dynamic and non-structural environment. This paper presents a WearComp based interface that gets over the space and time limitation on human-robot interaction. By adapting AR(augment reality) in outputting channel, the information of robotics status and warning was accentuated in the transmission. That method effectively saves the resources of transmission band and reappearance, lightens the burden of operators and contributes to a good operator consciousness to local condition and remote environment. By parallel and mutual compensation of MultiModality interaction, and by integrating and fusing the redundant information, the ambiguity and noise of inputting information can be eliminated. All of above get rid of input bottleneck; a more efficient and humanistic human machine interaction is provided.