A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement

Sun, Da; Kiselev, Andrey; Liao, Qianfang; Stoyanov, Todor; Loutfi, Amy

doi:10.1109/thms.2019.2960676

Cited by 67 publications

(26 citation statements)

References 33 publications

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“…Unlike the binary membership of the classical set, the membership grade of an element in a fuzzy cluster is between 0 and 1, and one element can belong to multiple fuzzy clusters with different membership grades. The "soft" fuzzy membership grade provides a more natural and reasonable method to characterize elements and is more robust to uncertainties [43]- [46]. In this study, we utilize fuzzy clusters to represent each of the 3D point sets for registration.…”

Section: Fuzzy Clustering For Point Setsmentioning

confidence: 99%

Point Set Registration for 3D Range Scans Using Fuzzy Cluster-Based Metric and Efficient Global Optimization

Liao

Sun

Andreasson

2021

IEEE Trans. Pattern Anal. Mach. Intell.

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Section: Fuzzy Clustering For Point Setsmentioning

confidence: 99%

Point Set Registration for 3D Range Scans Using Fuzzy Cluster-Based Metric and Efficient Global Optimization

Liao

Sun

Andreasson

2021

IEEE Trans. Pattern Anal. Mach. Intell.

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“…Ref. [38] develops an interaction method that follows the homunculus model by decoupling the human input from the control loop of the robot and avoiding directly using the tracked operator movement in the robot controller. To accomplish this, they design a force controller with two interaction modes, one for coarse movement and one for fine movement.…”

Section: Robot Control and Planningmentioning

confidence: 99%

A Systematic Review of Virtual Reality Interfaces for Controlling and Interacting with Robots

Wonsick

Padır

2020

Applied Sciences

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There is a significant amount of synergy between virtual reality (VR) and the field of robotics. However, it has only been in approximately the past five years that commercial immersive VR devices have been available to developers. This new availability has led to a rapid increase in research using VR devices in the field of robotics, especially in the development of VR interfaces for operating robots. In this paper, we present a systematic review on VR interfaces for robot operation that utilize commercially available immersive VR devices. A total of 41 papers published between 2016–2020 were collected for review following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. Papers are discussed and categorized into five categories: (1) Visualization, which focuses on displaying data or information to operators; (2) Robot Control and Planning, which focuses on connecting human input or movement to robot movement; (3) Interaction, which focuses on the development of new interaction techniques and/or identifying best interaction practices; (4) Usability, which focuses on user experiences of VR interfaces; and (5) Infrastructure, which focuses on system architectures or software to support connecting VR and robots for interface development. Additionally, we provide future directions to continue development in VR interfaces for operating robots.

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“…In fact, multi-target haptic guidance has been studied for a variety of applications, ranging from haptic computer menus to virtual reality applications [35]. Additionally, previous works demonstrated the potential of Mixed Reality in the operation of robots, revealing improvements in situational awareness, workload and efficiency [11,36].…”

Section: State Of the Artmentioning

confidence: 99%

Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Martín-Barrio

Roldán‐Gómez

Rodríguez

et al. 2020

Sensors

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Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

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A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement

Abstract: This is the accepted version of a paper published in. This paper has been peer-reviewed but does not include the final publisher proof-corrections or journal pagination.

Cited by 67 publications

References 33 publications

Point Set Registration for 3D Range Scans Using Fuzzy Cluster-Based Metric and Efficient Global Optimization

Point Set Registration for 3D Range Scans Using Fuzzy Cluster-Based Metric and Efficient Global Optimization

A Systematic Review of Virtual Reality Interfaces for Controlling and Interacting with Robots

Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

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