Experimental Evaluation of Teleoperation Interfaces for Cutting of Satellite Insulation

Pryor, Will; Vágvölgyi, Balázs; Gallagher, William J.; Deguet, Anton; Léonard, Simon; Whitcomb, Louis L.; Kazanzides, Peter

doi:10.1109/icra.2019.8793968

Cited by 10 publications

(11 citation statements)

References 9 publications

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“…In the latter case, the graphical primitives are implemented as augmented reality overlays on the real images. Figure 4 shows examples of these cases: (A) placing a virtual plane, on the camera image, to push against while sliding along to cut the tape in the Firm-MLI setup, Xia et al (2012) , (B) overlaying a virtual line on the camera image to guide cutting, and (C) overlaying the cut path (green lines) on the virtual model for cutting the MLI hat in the Soft-MLI setup, Pryor et al (2019) .…”

Section: Methodsmentioning

confidence: 99%

“… Virtual Fixtures: (A) Virtual plane on (stereo) camera image, Xia et al (2012) ; (B) Virtual line (red) on (stereo) camera image; (C) Virtual cut path (green lines) on 3D environment model, Pryor et al (2019) . …”

Section: Methodsmentioning

confidence: 99%

“…This section briefly describes initial experiments, more fully described in Vagvolgyi et al (2017Vagvolgyi et al ( , 2018, followed by a user study performed with trained robot operators, Pryor et al (2019).…”

Section: Augmented Virtuality Experimentsmentioning

confidence: 99%

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Teleoperation and Visualization Interfaces for Remote Intervention in Space

et al. 2021

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Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

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Teleoperation and Visualization Interfaces for Remote Intervention in Space

et al. 2021

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“…[20], [21] [5], [6], [22]- [36], [40], [41] [5], [6], [12], [22]- [37], [40], [41] [5], [6], [12], [22], [25]- [38], [40], […”

Section: Database Search and Filteringunclassified

“…For example, retinal surgery [24], heart surgery [75], and portable simulators [210] were addressed. Several studies included using the master controllers to drive vehicles in simulations [136] or cutting the satellite insulation [36].…”

Section: Othermentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.R obotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

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Systematic Literature Review on the User Evaluation of Teleoperation Interfaces for Professional Service Robots

Sankar

Djamasbi

et al. 2023

Lecture Notes in Computer Science

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Experimental Evaluation of Teleoperation Interfaces for Cutting of Satellite Insulation

Cited by 10 publications

References 9 publications

Teleoperation and Visualization Interfaces for Remote Intervention in Space

Teleoperation and Visualization Interfaces for Remote Intervention in Space

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Systematic Literature Review on the User Evaluation of Teleoperation Interfaces for Professional Service Robots

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