Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we demonstrated that na\"ive users can control a fixed-wing drone with torso movements while their arms are spread out. However, this posture induced significant arm fatigue. In this work, we present a passive arm support that compensates the arm weight with a mean torque error smaller than 0.005 N/kg for more than 97% of the range of motion used by subjects to fly, therefore reducing muscular fatigue in the shoulder of on average 58%. In addition, this arm support is designed to fit users from the body dimension of the 1st percentile female to the 99th percentile male. The performance analysis of the arm support is described with a mechanical model and its implementation is validated with both a mechanical characterization and a user study, which measures the flight performance, the shoulder muscle activity and the user acceptance.
翻译：基于手势的界面往往被用于实现机器人更自然和直觉的远程操作。 然而,有时,手势控制需要姿势或动作,给用户带来巨大的疲劳。 在先前的用户研究中,我们证明,在手臂分散时, 手势会随肌肉运动而变化, 螺旋用户可以控制固定翼无人机。 但是, 这种姿势会引起巨大的手臂疲劳。 在这项工作中, 我们提出了一个被动的手臂支持, 用于补偿手臂重量, 其平均重误差小于0.005 N/kg, 以补偿飞行对象所用运动范围97%以上, 从而减少平均58%肩部的肌肉疲劳。 此外, 这种手臂支持旨在让用户从女性1百分位到男性9十九分位的体位。 手臂支持的性能分析用机械模型描述, 其实施经过机械特征鉴定和用户研究, 以测量飞行性能、肩部肌肉活动和用户接受度为标准, 得到验证。
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