Enhancing bilateral teleoperation using camera-based online virtual fixtures generation

Selvaggio, Mario; Notomista, Gennaro; Chen, Fei; Gao, Boyang; Trapani, Francesco; Caldwell, Darwin G.

doi:10.1109/iros.2016.7759241

Cited by 33 publications

(18 citation statements)

References 15 publications

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“…A modified Newton's gravitational law equation generates the attractive force, but the overlap between attraction fields is not directly addressed. Multiple virtual fixtures are also considered in [46], where the user is assisted with haptic feedback for controlling the tip of a serial manipulator. Only translations are considered and a spring-like force is implemented to guide the operator toward the closest target.…”

Section: Multi-target Haptic Guidancementioning

confidence: 99%

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abi-Farraj

Pacchierotti

Arenz

et al. 2020

IEEE Trans. Haptics

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Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically-linked master-slave manipulators still dominate the field. Nonetheless, there is a pressing need for more effective robotic solutions able to significantly speed up the decommissioning of legacy radioactive waste. This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment. A 3D scan of the scene is used to generate a set of potential grasp candidates on the objects at hand. These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects. The haptic feedback is designed to be smooth and continuous as the user switches from a grasp candidate to the next one, or from one object to another one, avoiding any discontinuity or abrupt changes. To validate our approach, we carried out two human-subject studies, enrolling 15 participants. We registered an average improvement of 20.8%, 20.1%, 32.5% in terms of completion time, linear trajectory, and perceived effectiveness, respectively, between the proposed approach and standard teleoperation.

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Section: Multi-target Haptic Guidancementioning

confidence: 99%

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abi-Farraj

Pacchierotti

Arenz

et al. 2020

IEEE Trans. Haptics

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“…A popular haptic guidance scheme is virtual fixtures [3], that introduces virtual overlays to guide or restrict the motion, akin to a ruler, to constrain a user's motion on a desired trajectory. Virtual fixtures were shown to enhance the execution time, quality and precision of teleoperation tasks [4]- [6]. However, there have been arguments against using virtual fixtures for training purposes, as detrimental effects of continuous robot assistance are observed [7] in line with the "guidance hypothesis" [8].…”

Section: Related Workmentioning

confidence: 99%

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master

Singh

Srinivasan

Neumann

et al. 2020

IEEE Trans. Haptics

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In this study, we describe two techniques to enable hapticguided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torquecontrolled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this study, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side.

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“…A virtual fixture method based on the position error was presented to add an augmentation force on the master device to improve the task quality (Maddahi et al , 2015). In (Selvaggio et al , 2016), Selvaggio et al proposed an online virtual fixture and task switching mechanism that utilizes a stereo camera system to provide position information, thus improving teleoperation performance. In (Quintero et al , 2017), a flexible virtual fixture method with force-vision-based scheme was developed to reduce cognitive load and improve the task performance.…”

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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Enhancing bilateral teleoperation using camera-based online virtual fixtures generation

Cited by 33 publications

References 15 publications

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master

Enhanced teleoperation performance using hybrid control and virtual fixture

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