Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use electrodynamic exciters. Manual control is a common way of setting the input of the exciter by the operator. To measure the structural responses to these generated vibrations sensors are attached to the structure. These sensors can be deployed by repeatable robots with high endurance, which require on-the-fly control. If the interface between operators and the controls was augmented, then operators can visualize the experiments, exciter levels, and define robot input with a better awareness of the area of interest. Robots can provide better aid to humans if intelligent on-the-fly control of the robot is: (1) quantified and presented to the human; (2) conducted in real-time for human feedback informed by data. Information provided by the new interface would be used to change the control input based on their understanding of real-time parameters. This research proposes using Augmented Reality (AR) applications to provide humans with sensor feedback and control of actuators and robots. This method improves cognition by allowing the operator to maintain awareness of structures while adjusting conditions accordingly with the assistance of the new real-time interface. One interface application is developed to plot sensor data in addition to voltage, frequency, and duration controls for vibration generation. Two more applications are developed under similar framework, one to control the position of a mediating robot and one to control the frequency of the robot movement. This paper presents the proposed model for the new control loop and then compares the new approach with a traditional method by measuring time delay in control input and user efficiency.

翻译：人机交互（HMI）与人机协作（HRI）能够在实验室及现场环境中辅助结构监测与结构动力学测试。在振动实验中，电磁激振器是产生振动的一种典型装置。操作员通常通过手动控制方式设定激振器输入参数。为测量结构对生成振动的响应，需在待测结构上安装传感器。此类传感器可由高耐久性可重复部署机器人完成布设，这要求机器人具备实时控制能力。若操作员与控制界面之间实现增强交互，操作员便可直观观察实验过程、激振器输出水平，并在更清晰认知目标区域的前提下定义机器人输入参数。若机器人的智能实时控制满足以下条件，则能为人类提供更有效辅助：（1）量化控制参数并呈现给操作员；（2）基于数据驱动的实时反馈实现人机交互。新型界面提供的实时参数认知将被用于调整控制输入参数。本研究提出利用增强现实（AR）应用为操作员提供传感器反馈信号及执行器/机器人控制能力。该方法通过新型实时界面辅助操作员在调整参数时保持对结构状态的认知，从而提升认知效率。第一个应用程序可实现传感器数据可视化，同时集成振动发生器的电压、频率与时长控制功能。基于相同框架，另开发了两个应用程序分别用于控制中介机器人的位置参数及机器人运动频率。本文首先提出新型控制回路的理论模型，随后通过测量控制输入时延与用户操作效率，将新方法与传统方法进行对比分析。