Bimanual haptic teleoperation for discovering and uncovering buried objects

Tappeiner, Hanns W.; Klatzky, Roberta L.; Rowe, Patrick; Pedersen, Jorgen Maagaard; Hollis, R.L.

doi:10.1109/icra.2013.6630900

Cited by 3 publications

(4 citation statements)

References 5 publications

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“…As with biological systems, artificial tactile perception is an active process for sensing properties of one's environment, especially in the absence of vision [24]. The task of locating a buried rigid object has been previously studied using a leader-follower teleoperated robot system in which a custom haptic device displayed forces and torques directly to the operator's hand [76]. In that work, a human teleoperator manually controlled a robot that was sensorized with a force/torque sensor that remained outside of the granular media.…”

Section: Robot Interaction With Granular Mediamentioning

confidence: 99%

“…Kinesthetic feedback devices tend to be heavy and expensive and they additionally require custom haptic devices unique to a particular task. Cutaneous feedback can be achieved by vibrating [58,80], stretching [5], or applying pressure/force [9,76] or changes in temperature [39] to a teleoperator's skin. The feedback device can be placed on a body part that mirrors the sensor location on a robot surrogate (as on fingertips) or on a body part that is available (as on the upper arm of a transradial amputee).…”

Section: Feedback To Human Teleoperatormentioning

confidence: 99%

“…For safety critical tasks, the human may need to manually teleoperate the robot, as in surgical applications [61,86] or the handling of high-consequence materials [77]. Custom haptic interfaces could be used to control the robot and display contact force information to a teleoperator's hand [76]. In such an instantiation, the belief map would be used to convey remote environment characteristics and little autonomy would be given to the robot.…”

Section: Real-time Tactile Perception and Visualization For Human Control Of Remotementioning

confidence: 99%

See 2 more Smart Citations

Tactile Perception for Teleoperated Robotic Exploration within Granular Media

Jia

Santos

2021

J. Hum.-Robot Interact.

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The sense of touch is essential for locating buried objects when vision-based approaches are limited. We present an approach for tactile perception when sensorized robot fingertips are used to directly interact with granular media particles in teleoperated systems. We evaluate the effects of linear and nonlinear classifier model architectures and three tactile sensor modalities (vibration, internal fluid pressure, fingerpad deformation) on the accuracy of estimates of fingertip contact state. We propose an architecture called the Sparse-Fusion Recurrent Neural Network (SF-RNN) in which sparse features are autonomously extracted prior to fusing multimodal tactile data in a fully connected RNN input layer. The multimodal SF-RNN model achieved 98.7% test accuracy and was robust to modest variations in granular media type and particle size, fingertip orientation, fingertip speed, and object location. Fingerpad deformation was the most informative modality for haptic exploration within granular media while vibration and internal fluid pressure provided additional information with appropriate signal processing. We introduce a real-time visualization of tactile percepts for remote exploration by constructing a belief map that combines probabilistic contact state estimates and fingertip location. The belief map visualizes the probability of an object being buried in the search region and could be used for planning.

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Section: Robot Interaction With Granular Mediamentioning

confidence: 99%

Section: Feedback To Human Teleoperatormentioning

confidence: 99%

Section: Real-time Tactile Perception and Visualization For Human Control Of Remotementioning

confidence: 99%

See 1 more Smart Citation

Tactile Perception for Teleoperated Robotic Exploration within Granular Media

Jia

Santos

2021

J. Hum.-Robot Interact.

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“…With recent developments in soft robotic technologies and multi-modal sensing, there is a promising outlook for robotic manipulator platforms to conform to soft robotic continuum mechanics featuring multi-modal sensing capabilities. The next generation of robotic manipulators will feature softmaterial construction equipped with embedded multi-modal sensing capability not only to provide additional in-formation to an operator but also to enhance the level of tasks that a robot can complete autonomously [2,3]. Soft-material end-effectors will enable robots to conduct more complex tasks that have not yet been achievable by conventional rigid robots [4,5].…”

Section: Introductionmentioning

confidence: 99%

Multi-modal Sensing Soft End-Effector for Underwater Applications

2022

ARME

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The underwater domain of soft robotic end-effector development is an emerging field that calls for advancements to multimodal sensing solutions in order to achieve a wide fluctuation of conformable object manipulation. In this paper, the design of a 3-digit end-effector capable of 6 degrees of shape sensing and 12 points of force sensing is proposed. Integral to the end-effector's design is the presentation of its waterproofed soft-robotic actuators, each capable of 2-point shape sensing and 4-point force sensing. The individual actuator is designed as a uni-directional, bellow-type, PneuNet actuator built from silicone material. Onboard sensors utilize widely available piezo-resistive components which allow the actuator to act as a low-cost entry to shape sensing and force sensing. Each actuator exhibits a 2-part compound radius flex-sensor array and a 4-part single-point force sensor array. Of unique design is the bellow-type actuator's custom chamber layout which gives it the ability to resemble approximated closed curvature of a human pointer finger. A technique for shape reconstruction is presented that estimates the shape of the soft actuator based upon embedded flex sensor measurements. The actuator is interrogated under transient pressure range to examine its grasp performance, shape sensing, and force measuring capabilities. The actuator is tested as a stand-alone unit, tested in tandem with a secondary unit, and also equipped with the proposed 3-digit end-effector. Each actuator and servo motor are subjected to an underwater ground-fault test to examine preliminary electrical integrity when submerged below surface level water, whereas visual inspection of a single 3-digit grasp is performed on a cylindrical object under surface level water. The overall goal of this work is to exhibit a tangible design solution for waterproofed multi-modal sensing within the soft robotic design frame for various underwater robotic applications.

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