# TeleHairing：用于机器人理发的遥操作基线

> 原文链接：https://robotics.hellobike.com/papers/2026-10-05-2610-07096
> 频道：papers | 更新日期：2026-10-05 | 标签：arxiv, cs.RO
> 核心摘要：提出TeleHairing闭环遥操作架构，在假人机器人理发评估中量化部署、执行与中断影响。

# TeleHairing：用于机器人理发的遥操作基线

::: v-pre
> 原文链接：[TeleHairing: A Teleoperation Baseline for Robotic Haircutting](https://arxiv.org/abs/2610.07096)（arXiv 2610.07096 · 发布日期：2026-10-05）

**TeleHairing: A Teleoperation Baseline for Robotic Haircutting**

提出TeleHairing闭环遥操作架构，在假人机器人理发评估中量化部署、执行与中断影响。

## 核心要点

- 机器人理发需在头部附近控工具，并处理通信、视觉反馈、执行和中断。
- 方法构建闭环遥操作架构，支持本地、中继和远程部署条件下的假人理发评估。
- 日志显示远程延迟主要增加在机器人侧控制端点之前，机器人侧时序各模式相近。
- 轨迹分析表明远程误差主要由末端撤回段主导，检测丢失后重基准可恢复运动。

**验证范围与局限**：验证限于假人理发评估，涵盖本地、中继和远程部署及检测丢失试验。

## 英文摘要 (Abstract)

Robotic haircutting requires controlled tool motion near the head while simultaneously accounting for communication, visual feedback, tool actuation, and interruption handling. Existing studies still lack an operator-in-the-loop reference for analyzing these coupled behaviors before human trials or stronger autonomy. This paper presents TeleHairing, a closed-loop teleoperation architecture for mannequin-based robotic haircutting evaluation under local, relay, and remote deployment conditions. Logged timing shows that the main remote latency increase occurs before the robot-side control endpoint: overall timing reached 190.5~ms in remote mode, while robot-side command queue, control processing, and control-to-robot timing remained similar across modes. Trajectory analysis shows that the larger remote command-following error was dominated by the terminal withdrawal segment rather than accumulated uniformly over the path; excluding this segment reduced remote root-mean-square error (RMSE) from 45.1 mm to 9.6 mm. Detection-loss trials further show that rebase events resumed motion without a large target jump under the tested condition. These results clarify how deployment, execution, and interruption affect the robotic haircutting teleoperation loop, providing a quantitative reference for future autonomy, safety, and user-facing studies.

作者：Zhendai Huang, Aleksi Vilkki, Jianan Huang, Bolin Liao, Chunbo Luo, Leopoldo Angrisani, Shuai Li
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## 原始参考来源 (Sources)

- [arXiv 2610.07096：TeleHairing: A Teleoperation Baseline for Robotic Haircutting](https://arxiv.org/abs/2610.07096)