Metaverse is an immersive shared space that remote users can access through virtual and augmented reality interfaces, enabling their avatars to interact with each other and the surrounding. Although digital objects can be manipulated, physical objects cannot be touched, grasped, or moved within the metaverse due to the lack of a suitable interface. This work proposes a solution to overcome this limitation by introducing the concept of a Physical Metaverse enabled by a new interface named "Avatarm". The Avatarm consists in an avatar enhanced with a robotic arm that performs physical manipulation tasks while remaining entirely hidden in the metaverse. The users have the illusion that the avatar is directly manipulating objects without the mediation by a robot. The Avatarm is the first step towards a new metaverse, the "Physical Metaverse", where users can physically interact each other and with the environment.

翻译：摘要：元宇宙是一个沉浸式共享空间，远程用户可通过虚拟现实和增强现实接口接入，使其化身能够相互交互并与周围环境互动。尽管数字对象可在其中被操控，但由于缺乏合适的接口，物理对象无法在元宇宙中被触摸、抓取或移动。本文提出一种解决方案以突破这一限制，引入由名为“Avatarm”的新接口赋能的“物理元宇宙”概念。Avatarm由增强有机械臂的化身构成，该机械臂在执行物理操控任务时完全隐于元宇宙中。用户将产生化身直接操控对象的错觉，而无需感知机器人的中介作用。Avatarm是迈向新型元宇宙——“物理元宇宙”的第一步，在此空间中用户可彼此及与环境进行物理交互。