Development of a telepresence controlled ambidextrous robot for space applications

Li, L.; Cox, Brian; Diftler, Myron; Shelton, Susan; Rogers, B.K.

doi:10.1109/robot.1996.503573

Cited by 20 publications

(10 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Later several telepresence projects were developed for solving similar problems of manipulation to allow people to work under difficult conditions. Examples include working at great depths in the sea [Yoerger & Slotine, 1987], in microscopic workstations [Codourey et al, 1997] and performing space-station maintenance (Li et al, 1996].…”

Section: History Lessonmentioning

confidence: 99%

MeBot: A robotic platform for socially embodied telepresence

Adalgeirsson

Breazeal

2010

2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

131

112

View full text Add to dashboard Cite

Telepresence refers to a set of technologies that allow users to feel present at a distant location, telerobotics is a subfield of telepresence. Much work has been done in telerobotics through the years to provide safer working environments for people or to reach locations that would otherwise be inaccessible. More recently telerobots have been developed for communication purposes but as of yet they have not accommodated for other channels of communication than audio or video. The design and evaluation of a telepresence robot that allows for social expression is the content of this thesis. Our claim is that a telerobot that communicates more than simply audio or video but also expressive gestures, body language or pose and proxemics will allow for a more engaging and enjoyable interaction. An iterative design process of the MeBot platform is described in detail as well as the design of supporting systems and various control interfaces. A human subject study was conducted where the effects of expressivity were measured. Our results show that a socially expressive robot was found to be more engaging and likable than a static one. It was also found that expressiveness contributes to more psychological involvement and better cooperation.

show abstract

Section: History Lessonmentioning

confidence: 99%

MeBot: A robotic platform for socially embodied telepresence

Adalgeirsson

Breazeal

2010

2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

131

112

View full text Add to dashboard Cite

show abstract

“…Since then, more complex telepresence systems have been designed for controlling dexterous robotic platforms. Robot arms for space applications were controlled adjusting the level of immersion and telepresence selected by the user [8]. Remote control of a robot, equipped with an arm and two CCD cameras, was achieved using a visual display attached to a helmet and joystick [9], [10].…”

Section: Related Workmentioning

confidence: 99%

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

2017

View full text Add to dashboard Cite

ReuseUnless indicated otherwise, fulltext items are protected by copyright with all rights reserved. The copyright exception in section 29 of the Copyright, Designs and Patents Act 1988 allows the making of a single copy solely for the purpose of non-commercial research or private study within the limits of fair dealing. The publisher or other rights-holder may allow further reproduction and re-use of this version -refer to the White Rose Research Online record for this item. Where records identify the publisher as the copyright holder, users can verify any specific terms of use on the publisher's website. TakedownIf you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing eprints@whiterose.ac.uk including the URL of the record and the reason for the withdrawal request.1530-437X (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Abstract-The idea of being present in a remote location has inspired researchers to develop robotic devices that make humans to experience the feeling of telepresence. These devices need of multiple sensory feedback to provide a more realistic telepresence experience. In this work, we develop a wearable interface for immersion and telepresence that provides to human with the capability of both to receive multisensory feedback from vision, touch and audio and to remotely control a robot platform. Multimodal feedback from a remote environment is based on the integration of sensor technologies coupled to the sensory system of the robot platform. Remote control of the robot is achieved by a modularised architecture, which allows to visually explore the remote environment. We validated our work with multiple experiments where participants, located at different venues, were able to successfully control the robot platform while visually exploring, touching and listening a remote environment. In our experiments we used two different robotic platforms: the iCub humanoid robot and the Pioneer LX mobile robot. These experiments show that our wearable interface is comfortable, easy to use and adaptable to different robotic platforms. Furthermore, we observed that our approach allows humans to experience a vivid feeling of being present in a remote environment.

show abstract

“…In the early 90's, Lockheed and NASA engineers at the Johnson Space Center built a testbed to determine if a robot modeled after a human could assist crew with tasks not designed for robots. The Dexterous Anthropomorphic Robotic Testbed (DART) (Li et al, 1996) is a ground-based, teleoperated testbed that helped NASA make this determination. Featuring a pair of 3-fingered hands mounted on 6-jointed robotic arms, DART has sufficient mechanical dexterity to work with a variety of EVA tools, interfaces and materials including tether hooks, wire cutters, hand rails and flexible blankets.…”

Section: Historymentioning

confidence: 99%

Innovative Robot Archetypes for In-Space Construction and Maintenance

Rehnmark

Ambrose

Kennedy

et al. 2005

AIP Conference Proceedings

View full text Add to dashboard Cite

Abstract. The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as selfcontained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts.

show abstract

Development of a telepresence controlled ambidextrous robot for space applications

Cited by 20 publications

References 3 publications

MeBot: A robotic platform for socially embodied telepresence

MeBot: A robotic platform for socially embodied telepresence

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

Innovative Robot Archetypes for In-Space Construction and Maintenance

Contact Info

Product

Resources

About