Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators to directly perceive or regulate contact forces, limiting task performance. To address this, we propose an augmented reality (AR) visualization of the impedance controller's target pose and its displacement from each robot end effector. This visualization conveys the forces generated by the controller, providing operators with intuitive, real-time feedback without expensive haptic hardware. We evaluate the design in a dual-arm manipulation study with 17 participants who repeatedly reposition a box with and without the AR visualization. Results show that AR visualization reduces completion time by 24% for force-critical lifting tasks, with no significant effect on sliding tasks where precise force control is less critical. These findings indicate that making the impedance target visible through AR is a viable approach to improve human-robot interaction for contact-rich teleoperation.

翻译：接触丰富的遥操作仍具有挑战性，尤其是在使用无触觉反馈的低成本运动控制界面时。虚拟现实控制器虽能实现直观的运动控制，但操作者无法直接感知或调节接触力，从而限制了任务性能。为解决此问题，我们提出一种增强现实（AR）可视化方法，用于展示阻抗控制器的目标位姿及其与各机器人末端执行器的位移偏差。该可视化可传达控制器产生的力，为操作者提供无需昂贵触觉硬件的直观实时反馈。我们通过一项双臂操作研究对设计进行评估，17名参与者在有无AR可视化条件下反复重新定位箱子。结果表明，在需要精确力控制的举升任务中，AR可视化使完成时间减少24%，而对力控制精度要求较低的滑动任务未产生显著影响。这些发现表明，通过AR使阻抗目标可见是改善接触丰富遥操作中人机交互的可行方法。