Problem
Research questions and friction points this paper is trying to address.
affective shared autonomy
teleoperation
cognitive workload
frustration
execution breakdown
Affective Shared Autonomy: Temporal Affect Dynamics and Subjective Evaluation in Bimanual Teleoperation Tasks
🤖 AI Summary
该研究提出一种情感感知的共享自主遥操作框架，通过实时估计操作员状态并动态调整机器人辅助，以解决高要求任务中的认知负担和挫败感问题。
📝 Abstract
Physical teleoperation integrates human cognitive flexibility with robotic precision, yet demanding manipulation tasks frequently induce severe cognitive workload, acute frustration, and execution breakdown. Conventional shared autonomy paradigms rely primarily on task-based rules, such as spatial error boundaries, which disregard the operator's transient affective state and risk misaligned control interventions. To address this limitation, we propose an affect-aware shared autonomy teleoperation framework that dynamically modulates robotic assistance based on real-time operator state estimation. The system estimates operator affective states from synchronized facial video, cardiac signals, and bilateral arm kinematics, outputting a seven-state affective distribution and a three-category operational abstraction (neutral, productive, adverse). Affect-aware assistance is selectively triggered when the user is detected in a continuous adverse state, preserving task-positive engagement without unnecessary disruption. The empirical user study ($N = 30$) confirms that the proposed affective assistance increases the productive states by up to 39.7% without compromising user agency. The collected dataset represents the first multimodal dataset that provides continuous visual, physiological, and operator's bilateral motion tracking of temporal affective state shifts during bimanual teleoperation. Our multimodal fusion model outperforms zero-shot baselines (Qwen, MiniCPM-V) in tracking temporal state dynamics. This real-world deployment offers a new human-centric framework that integrates visual, physiological, and motion tracking for physical human-robot interaction.
Innovation
Methods, ideas, or system contributions that make the work stand out.
affect-aware shared autonomy
real-time operator state estimation
multimodal fusion model
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