A Framework for Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments

Pruks, Vitalii; Ryu, Jee-Hwan

doi:10.1109/icra40945.2020.9196579

Cited by 8 publications

(6 citation statements)

References 29 publications

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“…The introduction of VFs, especially interactive ones, improved teleoperation performance in our previous work (Pruks and Ryu 2020) and related studies (Lee and Park 2018;Quintero et al, 2017;Selvaggio et al, 2018;Tang et al, 2013;Vagvolgyi et al, 2018). However, there have been none that compared different interactive VF generation methods.…”

Section: Experimental Studymentioning

confidence: 95%

“…Because of their simplicity and intuitiveness, VFs are promising methods that have been shown to improve operators' teleoperation performance, reduce total workload, and ensure the safety of task execution (Rosenberg 1993;Pruks et al, 2018;Moccia et al 2019Moccia et al , 2020Marinho et al, 2020;Pruks and Ryu 2020). However, most extant research considered VFs to be pre-defined or automatically generated.…”

Section: Introductionmentioning

confidence: 99%

“…The feasibility of the feature-based interactive VF specification was investigated in our previous studies (Pruks et al, 2018; Pruks and Ryu 2020). This paper completes the authors’ preliminary framework by adding the effect rule as the final interchangeable component of the interactive VF, by introducing an effective interactive feature selection mechanism, by adding 3D-feature detectors to obtain more accurate measurements of remote objects, and by rigorously formulating the proposed method as an advanced framework.…”

Section: Introductionmentioning

confidence: 99%

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Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Pruks¹,

Ryu

2022

The International Journal of Robotics Research

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A virtual fixture (VF) is a constraint built into software that assists a human operator in moving a remote tool along a preferred path via an augmented guidance force to improve teleoperation performance. However, teleoperation generally applies to unknown or dynamic environments, which are challenging for VF use. Most researchers have assumed that VFs are pre-defined or generated automatically; however, these processes are complicated and unreliable in unknown environments where teleoperation is in high demand. Recently, a few researchers have addressed this issue by introducing a user-interactive method of generating VFs in unknown environments. However, these methods are limited to generating a single type of primitive for a single robot tool. Moreover, the accuracy of the VF generated by these methods depends on the accuracy of the human input. Thus, applications of these methods are limited. To overcome those limitations, this work introduces a novel interactive VF generation method that includes a new method of representing VFs as a composition of components. A feature-based user interface allows the human operator to intuitively specify the VF components. The new VF representation accommodates a variety of robot tools and actions. Using the feature-based interface, the process of VF generation is more intuitive and accurate. In this study, the proposed method is evaluated with human subjects in three teleoperation experiments: peg-in-hole, pipe-sawing, and pipe-welding. The experimental results show that the VFs generated by the proposed approach result in a higher manipulation quality while demonstrating the lowest total workload in all experiments. The peg-in-hole task teleoperation was the safest in terms of failure proportion and exerted force of the robot tool. In the pipe-sawing task, the positioning of the robot tool was the most accurate. In the pipe-welding task, the quality of weld was the best in terms of measured tool-trajectory smoothness and visual weld observation.

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Section: Experimental Studymentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Pruks¹,

Ryu

2022

The International Journal of Robotics Research

Self Cite

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“…This vision-based virtual fixture generation approach is generalized in [10] by allowing a human operator to select visual features and generate useful tool constraints. Using this toolbox one can e.g.…”

Section: A Vision-based Virtual Fixturesmentioning

confidence: 99%

Multi-Phase Multi-Modal Haptic Teleoperation

Muhlbauer

Steinmetz

Stulp

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Virtual Fixtures facilitate teleoperation, for instance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections. We observed that many assembly operations can be split into different phases -approaching, positioning, in-contact manipulation -each with different accuracy requirements. Therefore, we propose to use multi-modal fixtures, satisfying the different requirements of these phases: i.e. a position-based Trajectory Fixture for approaching and a more accurate Visual Servoing Fixture for the positioning phase. A state estimation and arbitration component ensures smooth transitions between the fixtures to provide optimal support for the operator and to achieve global availability paired with local precision at the same time. It also allows a high stiffness to be used throughout, thus achieving good guidance for all phases. The approach is validated in an application from a space scenario, consisting of the assembly of a CubeSat subsystem. The empirical results from a pilot study on this task show that our approach is faster and requires less interaction force from the operator than the baseline method.

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“…The most straightforward and brief method to avoid collisions with surrounding assembly parts is the virtual fixture, which assists a teleoperation robot to accomplish assembly task by restricting the robot's movement to certain areas [6] or guiding the robot along a preset path [7]. The virtual fixture can be custom generated [8] or automatically generated [9]. The virtual fixture ensures the safety of the robot system while maintaining a certain degree of operational freedom, but it also constrains the robot from moving beyond the allowed range, thereby limiting the flexibility of teleoperation.…”

Section: Introductionmentioning

confidence: 99%

Collision Risk Assessment and Operation Assistant Strategy for Teleoperation System

Peng

Cheng²,

Meng

et al. 2023

Applied Sciences

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Teleoperation robots remain superior to fully automated robots in complicated and unstructured environments (e.g., in-orbit assembly). However, the collision risk is also greatly increased in these environments. Therefore, the teleoperation robot should possess the capability of collision risk perception and be configured with security assistance strategy to improve safety and efficiency. With this objective in mind, this paper proposes a collision risk assessment system based on fuzzy theory, which comprehensively considers the effects of shortest distance, operation speed, and delay time. The introduction of fuzzy theory makes the risk assessment results more accurate. Furthermore, this paper also proposes a creative discrete expandable bounding box method to make the calculation of the nearest distance between complicated obstacles and the robot more efficient and faster. Secondly, to improve the safety and efficiency of teleoperation, this paper proposes a set of teleoperation assistance strategies for teleoperation robots based on collision risk. The strategies include partial view highlighting, variation in the motion mapping ratio, and haptic risk warning, all of which are achieved in the graphical interactive interface. Finally, this paper verifies the proposed collision risk model and the operation assistant strategy through experiments. The results show that the proposed fuzzy collision risk model has a correct trend with risk factors, and the proposed operation assistance strategies can effectively reduce the robot collision risk and improve the safety of teleoperation robots. In conclusion, this research contributes to the collision risk assessment and obstacle avoidance assistance strategy of teleoperation robots.

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A Framework for Interactive Virtual Fixture Generation for Shared Teleoperation in Unstructured Environments

Cited by 8 publications

References 29 publications

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Multi-Phase Multi-Modal Haptic Teleoperation

Collision Risk Assessment and Operation Assistant Strategy for Teleoperation System

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