We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37 participants on two different robots using two different control modalities: a virtual reality controller and a finger mapping hardware controller using different grasping systems. Users were asked to teleoperate the robot to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at least a tower of 3 cubes regardless of the control modality or robot used, demonstrating the user-friendliness of TELESIM.

翻译：我们提出了TELESIM——一种模块化即插即用型框架，通过数字孪生作为用户与机器人系统之间的交互界面，实现机械臂的直接遥操作。为测试TELESIM的性能，我们开展了一项包含37名参与者的用户调研，涉及两种不同机器人及两种控制模态：使用不同抓取系统的虚拟现实控制器与手指映射硬件控制器。用户被要求遥控操作机器人将3个立方体堆叠成塔，并在仅接受5分钟训练后，于10分钟内尽可能多地重复该任务。实验结果表明，无论采用何种控制模态或机器人系统，大多数用户都能成功搭建至少一座由3个立方体构成的塔，充分验证了TELESIM的用户友好性。