Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Zhang, Jin; Li, Wei; Yu, Jiancheng; Zhang, Qifeng; Cui, Shengguo; Li, Yan; Li, Shuo; Chen, Genshe

doi:10.1109/tie.2016.2557309

Cited by 31 publications

(13 citation statements)

References 19 publications

(15 reference statements)

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“…Traditionally, telepresence systems have been composed of arm manipulators and visual feedback, which have shown interesting progresses [11], [12]. However, integration of multimodal feedback, e.g., tactile and audio, can provide enhanced and sophisticated systems that benefit from multimodal data in the environment [13], [14]. The first manmachine interface, equipped with multiple sensor feedback (CCD cameras, integrated microphones and pressure sensors) was developed for control of a dual-arm robot [15].…”

Section: Related Workmentioning

confidence: 99%

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

2017

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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.

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Section: Related Workmentioning

confidence: 99%

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

2017

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“…In this paper, a master-slave servo underwater manipulator with six degrees of freedom (DOFs) and a parallel gripper is used for this study. Its kinematic, dynamic and virtual models are developed in [16][17]. Remotely operating the underwater manipulator in the deep sea environment is complex, which causes the operator usually to bear a larger operating pressure.…”

Section: Problem Statementmentioning

confidence: 99%

“…In order to demonstrate the feasibility and effectiveness of the proposed P300-based BRI system, we develop a virtual platform in Webots environment [17], as shown in Fig. 2, because controlling the real underwater manipulator is risky and time-consuming.…”

Section: Development Of the Experimental Platformmentioning

confidence: 99%

Operating an underwater manipulator via P300 brainwaves

Zhang

et al. 2016

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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It would be difficult and stressful for a single operator to operate an underwater manipulator using his/her both hands in deep sea environments while the operator has to monitor or manipulate additional equipment. In order to reduce the operating pressure and make full use of the operator potentials, in this paper we propose a control strategy for operating the underwater manipulator via P300 brainwaves, which provides the operator a new way to operate the underwater manipulator without need for both hands. In this case, the two hands can be used to manipulate other equipment. The manipulator is a masterslave servo hydraulic manipulator with 7 functions, consisting of six degrees of freedom (DOFs) and a parallel gripper for manipulations. A p300 interface is designed by considering operation tasks of the underwater manipulator. It's a 3*3 image matrix where each image corresponds to an underwater manipulator behavior. An experimental platform, in which a virtual underwater manipulator is developed, is used for validating the feasibility and effectiveness of the proposed brainwave-based strategy. Eight subjects are invited to do a typical underwater operational task, grasping a marine organism sample, on the virtual experimental platform. Their experimental results demonstrate that the proposed method is feasible and effective.

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“…Over the last 30 years, the research has focused on the replacement of humans by robots in unknown or dangerous environments. Robots have been widely used in several areas, such as industrial applications, for deep-sea exploration, and for medical service (Bolopion et al, 2013;Chan et al, 2014;Perera et al , 2014;Zhang J. et al , 2017). Since then, the telerobot developed into a research hot-spot in the field of robotics.…”

Section: Introductionmentioning

confidence: 99%

Enhanced teleoperation performance using hybrid control and virtual fixture

Luo

Yang

Wang

et al. 2019

International Journal of Systems Science

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To develop secure, natural, and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a process of human-robot interaction. This paper develops an integrated scheme based on a hybrid control and virtual fixture approach for the telerobot. The human operator can sense the slave interaction condition and adjust the master device via the surface electromyographic signal. This hybrid control method integrates proportional-derivative control and variable stiffness control, and involves muscle activation at the same time. It is proposed to quantitatively analyse the human operator's control demand to enhance the control performance of the teleoperation system. In addition, due to unskilful operation and muscle physiological tremor of the human operator, a virtual fixture method is developed to ensure accuracy of operation and to reduce the operation pressure on the human operator. Experimental results demonstrated the effectiveness of the proposed method for the teleoperated robot.

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Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Cited by 31 publications

References 19 publications

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

Multisensory Wearable Interface for Immersion and Telepresence in Robotics

Operating an underwater manipulator via P300 brainwaves

Enhanced teleoperation performance using hybrid control and virtual fixture

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