Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we introduce an Avatar Robot System which is a mixed real/virtual robotic system that physically interacts with a person in proximity of the robot. The robot structure is overlaid with the 3D model of the remote caregiver and visualized through Augmented Reality (AR). In this way, the person receives haptic feedback as the robot touches him/her. We further present an Optimal Non-Iterative Alignment solver that solves for the optimally aligned pose of 3D Human model to the robot (shoulder to the wrist non-iteratively). The proposed alignment solver is stateless, achieves optimal alignment and faster than the baseline solvers (demonstrated in our evaluations). We also propose an evaluation framework that quantifies the alignment quality of the solvers through multifaceted metrics. We show that our solver can consistently produce poses with similar or superior alignments as IK-based baselines without their potential drawbacks.

翻译：尽管远程呈现辅助机器人已取得显著进展，但其仍缺乏远程操控者的真实感与物理存在感，导致此类机器人难以获得信任与广泛采用。本文提出一种混合现实/虚拟的化身机器人系统，能够与机器人附近的个体进行物理交互。该机器人结构上覆盖远程护理人员的三维模型，并通过增强现实（AR）技术进行可视化，使被接触者能通过机器人触碰到自身来接收触觉反馈。我们进一步提出一种最优非迭代对齐求解器，可非迭代地求解三维人体模型与机器人之间（从肩部到腕部）的最优对齐姿态。该求解器为无状态算法，能实现最优对齐且速度优于基线求解器（通过评估验证）。同时，我们构建了多维度量化对齐质量的评估框架。实验表明，该求解器在避免基于逆运动学基线方法潜在缺陷的同时，能持续生成对齐质量相当或更优的姿态。