Supernumerary robotic limbs (SRLs) present many opportunities for daily use. However, their obtrusiveness and limitations in interaction genericity hinder their daily use. To address challenges of daily use, we extracted three design considerations from previous literature and embodied them in a wearable we call Orochi. The considerations include the following: 1) multipurpose use, 2) wearability by context, and 3) unobtrusiveness in public. We implemented Orochi as a snake-shaped robot with 25 DoFs and two end effectors, and demonstrated several novel interactions enabled by its limber design. Using Orochi, we conducted hands-on focus groups to explore how multipurpose SRLs are used daily and we conducted a survey to explore how they are perceived when used in public. Participants approved Orochi's design and proposed different use cases and postures in which it could be worn. Orochi's unobtrusive design was generally well received, yet novel interactions raise several challenges for social acceptance. We discuss the significance of our results by highlighting future research opportunities based on the design, implementation, and evaluation of Orochi.
This is a survey of research published on the subjects of telerobotics, haptic feedback, and mixed reality applied to surface nishing. The survey especially focuses on how visuo-haptic feedback can be used to improve a grinding process using a remote manipulator or robot. The bene ts of teleoperation and reasons for using haptic feedback are presented. The use of genetic algorithms for optimizing haptic sensing is brie y discussed. Ways of augmenting the operator's vision are described. Visual feedback can be used to nd defects and analyze the quality of the surface resulting from the surface nishing process. Visual cues can also be used to aid a human operator in manipulating a robot precisely and avoiding collisions.
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