A Review on Haptic Bilateral Teleoperation Systems

Nahri, Syeda Nadiah Fatima; Du, Shengzhi; Wyk, Barend Jacobus van

doi:10.1007/s10846-021-01523-x

Cited by 21 publications

(8 citation statements)

References 127 publications

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“…In summary, the continuous evolution in teleoperation paradigms, marked by integrations of emerging technologies, necessitates an ongoing re-evaluation and enrichment of the literature on teleoperation delays. The developing spheres of haptic feedback, augmented reality, and advanced control algorithms are indicating novel prospects for mitigating the adverse effects of delays [41][42][43] . These evolving considerations underscore the imperative for groundbreaking solutions such as sensory manipulation, postulated in this paper, to ameliorate the pervasive challenges posed by teleoperation delays and to fortify the amalgamation of human cognition with robotic precision.…”

Section: Robot Teleoperation Delaysmentioning

confidence: 99%

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Du,

Vann,

Zhou

et al. 2023

Preprint

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In the realm of robotics and automation, robot teleoperation, which facilitates human-machine interaction in distant or hazardous settings, has surged in significance. A persistent issue in this domain is the delays between command issuance and action execution, causing negative repercussions on operator situational awareness, performance, and cognitive load. These delays, particularly in long-distance operations, are difficult to mitigate even with the most advanced computing advancements. Current solutions mainly revolve around machine-based adjustments to combat these delays. However, a notable lacuna remains in harnessing human perceptions for an enhanced subjective teleoperation experience. This paper introduces a novel approach of sensory manipulation for induced human adaptation in delayed teleoperation. Drawing from motor learning and rehabilitation principles, it is posited that strategic sensory manipulation, via altered sensory stimuli, can mitigate the subjective feeling of these delays. The focus is not on introducing new skills or adapting to novel conditions; rather, it leverages prior motor coordination experience in the context of delays. The objective is to reduce the need for extensive training or sophisticated automation designs. A human-centered experiment involving 41 participants was conducted to examine the effects of modified haptic cues in teleoperations with delays. These cues were generated from high-fidelity physics engines using parameters from robot-end sensors or physics engine simulations. The results underscored several benefits, notably the considerable reduction in task time and enhanced user perceptions about visual delays. Real-time haptic feedback, or the anchoring method, emerged as a significant contributor to these benefits, showcasing reduced cognitive load, bolstered self-confidence, and minimized frustration. Beyond the prevalent methods of automation design and training, this research underscores induced human adaptation as a pivotal avenue in robot teleoperation. It seeks to enhance teleoperation efficacy through rapid human adaptation, offering insights beyond just optimizing robotic systems for delay compensations.

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Section: Robot Teleoperation Delaysmentioning

confidence: 99%

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Du,

Vann,

Zhou

et al. 2023

Preprint

View full text Add to dashboard Cite

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“…With advancements in technology and automation, the utilization of robotic systems in industry is becoming increasingly inevitable as they offer unmatched precision, efficiency, and the ability to perform repetitive tasks tirelessly. Teleoperation plays a vital role in the deployment of robotic systems and offers a unique set of advantages (Saeidi et al 2017;Nahri et al 2022;Basañez et al 2023). Teleoperation empowers operators to manipulate robotic systems with precision and proficiency, performing complicated tasks that require human intelligence and decision-making capabilities (Adamides et al 2015;Hedayati et al 2018).…”

Section: Introductionmentioning

confidence: 99%

Full Immersive Telepresence Through Integration of a VR-Headset with a Teleoperated Humanoid Robotic Head Featuring Real-Time Stereoscopic Vision and Binaural Auditory Perceptions

Dugan,

Sadykov,

Roozbahani

et al. 2024

Preprint

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The rapid evolution of technology has created new opportunities for teleoperation, especially with the emergence of affordable Virtual Reality (VR) systems originally designed for entertainment and gaming. Teleoperation in robotics has a long history, however, its integration with VR for controlling robotic systems is currently gaining significant attention. In this study, a novel real-time platform is developed that integrates teleoperation with a VR system, providing immersive control of a biomimetic robotic head. A 3D model of the robotic head was designed and built to mimic the movements of the operator's head in real-time using the operator’s kinematics. The fabricated robotic head is equipped with a pair of cameras and a binaural microphone to provide vision and audio perception. Additionally, two servomotors are employed to track the motion of the operator’s neck. To control the biomimetic robotic head, a game was developed in Unity to deliver 3D visual and stereophonic audio inputs to the headset, which ensures a smooth viewing and listening experience for the operator. The designed platform is operated through a custom-written C++ program that facilitates continuous tracking of the headset and establishes constant communication with the servomotors. High precision in the positional data and accurate tracking of the head-mounted display (HMD), along with efficient communication with the motors, were achieved. The integration of the VR system and teleoperation developed in this study advances VR technology beyond traditional entertainment-oriented applications and makes it applicable in diverse industrial fields, simultaneously elevating teleoperation in human-robot interactions to new levels of productivity.

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“…A system's parameter uncertainties and unmodelled dynamics affect the former control method. In contrast, the latter method considers various system uncertainties, such as internal perturbations, external disturbances, unmodelled dynamics, and nonlinearity [4]. One widely developed model-free controller is active disturbance rejection control (ADRC), whose model has been modified over time to execute time-delay and disturbance compensations.…”

Section: Introductionmentioning

confidence: 99%

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Nahri

Wyk

2023

Machines

Self Cite

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The latest research on disturbance rejection mechanisms has shown active disturbance rejection control (ADRC) to be an effective controller for uncertainties and nonlinear dynamics em-bedded in systems to be controlled. The significance of the ADRC controller is its model-free nature, as it requires minimal knowledge of the system model. In addition, it can actively estimate and compensate for the impact of internal and external disturbances present, with the aid of its crucial subsystem called the extended state observer (ESO). However, ADRC controller design becomes more challenging owing to different system disturbances, such as output disturbances, measure-ment noise, and varying time-delays persistent in the system’s communication channels. Most dis-turbance rejection techniques aim to reduce internal perturbations and external disturbances (input and output disturbance). However, output disturbance rejection with measurement noise under time-delay control is still a challenging problem. This paper presents a novel predictive ESO-based ADRC controller for time-delay systems by employing predictive methods to compensate for the disturbances originating from time delay. The prediction mechanism of the novel (proposed) con-troller design is greatly attributed to the extended state predictor observer (ESPO) integrated with the delay-based ADRC inside the proposed controller method. Thus, the proposed controller can predict the unknown system dynamics generated during the delay and compensate for these dy-namics via disturbance rejection under time-delay control. This approach uses the optimization mechanism to determine controller parameters, where the genetic algorithm (GA) is employed with the integral of time-weighted absolute error (ITAE) as the fitness function. The proposed controller is validated by controlling second-order systems with time delay. Type 0, Type 1, and Type 2 sys-tems are considered as the controlled plants, with disturbances (unknown dynamics due to delay and external disturbance), along with measurement noise present. The proposed controller method is compared with state-of-the-art methods, such as the modified time-delay-based ADRC method and the ESPO-based controller method. The findings indicate that the method proposed in this pa-per outperforms its existing competitors by compensating for the dynamics during the time delay and shows robust behaviour, improved disturbance rejection, and a fair extent of resilience to noise.

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A Review on Haptic Bilateral Teleoperation Systems

Cited by 21 publications

References 127 publications

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Full Immersive Telepresence Through Integration of a VR-Headset with a Teleoperated Humanoid Robotic Head Featuring Real-Time Stereoscopic Vision and Binaural Auditory Perceptions

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

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