本文提出并验证了一个系统理论框架，用于识别和评估自动驾驶车辆中的人机交互心理风险，并通过实际场景测试了其应用性和有效性。
本文提出了一种基于STAMP的风险评估方法，用于解决自动驾驶汽车中由于人车交互导致的心理安全问题。
This study addresses the limitations of conventional joystick-based teleoperation in scenarios such as nuclear industry applications, where precise path tracking, force control, and obstacle avoidance during surface contact tasks are critical, yet impose high cognitive load on operators. To overcome these challenges, this work proposes a touchscreen-based teleoperation interface that directly maps continuous finger motion to the Franka Emika Panda robotic arm, integrating control and visualization for more intuitive motion mapping and fine-grained velocity modulation. User studies demonstrate that, compared to both joystick and one-button autonomous modes, the proposed method reduces median task completion time by 53.5% (2.50 vs. 5.38 minutes), achieves a 90.7% coverage rate on sinusoidal paths with lower overshoot, and decreases NASA-TLX cognitive workload scores by 17.3%, significantly enhancing operational efficiency and naturalness.
本文提出并验证了一个系统理论框架，用于识别和评估自动驾驶车辆中的人机交互心理风险，并通过实际场景测试了其应用性和有效性。
本文提出了一种基于STAMP的风险评估方法，用于解决自动驾驶汽车中由于人车交互导致的心理安全问题。
This study addresses the limitations of conventional joystick-based teleoperation in scenarios such as nuclear industry applications, where precise path tracking, force control, and obstacle avoidance during surface contact tasks are critical, yet impose high cognitive load on operators. To overcome these challenges, this work proposes a touchscreen-based teleoperation interface that directly maps continuous finger motion to the Franka Emika Panda robotic arm, integrating control and visualization for more intuitive motion mapping and fine-grained velocity modulation. User studies demonstrate that, compared to both joystick and one-button autonomous modes, the proposed method reduces median task completion time by 53.5% (2.50 vs. 5.38 minutes), achieves a 90.7% coverage rate on sinusoidal paths with lower overshoot, and decreases NASA-TLX cognitive workload scores by 17.3%, significantly enhancing operational efficiency and naturalness.