Human-machine interface for a master-slave hydraulic manipulator with vision enhancement and auditory feedback

Ding, Ruqi; Cheng, Min; Han, Zenan; Wang, Rui; Xu, Bing

doi:10.1016/j.autcon.2022.104145

Cited by 10 publications

(3 citation statements)

References 30 publications

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“…Many studies on leader-follower robots aim at achieving "human-machine integration" control [6][7][8][9][10][11][12][13][14]. This approach emphasizes mirroring human motion in robot actions, which enables precise control.…”

Section: Introductionmentioning

confidence: 99%

Framework to Estimate Operating Intention for a Leader–Follower Robot

Lyu,

Koyanagi,

Nagahara

et al. 2023

Machines

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The teleoperation feature of a leader–follower robot is used to operate the robot in a working environment that is dangerous to the operator. This paper proposes a method for estimating the intended operation of the operator of the leader–follower robot and generating behaviors for the follower robot. By generating partially autonomous robot behavior, our proposed method decreases the burden on the operator and realizes a safe controller that is robust against misoperation or disturbances. Owing to the impact of misoperation on estimation and the potential for unintended movement of the follower robot, our proposed estimation method relies on historical values of intended operation. The proposed method was verified through simulation using real operation inputs to the leader system based on practical scenarios, including misoperation.

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Section: Introductionmentioning

confidence: 99%

Framework to Estimate Operating Intention for a Leader–Follower Robot

Lyu,

Koyanagi,

Nagahara

et al. 2023

Machines

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“…While these VAs were generally deemed useful by most participants as compensatory aids for the VR HMD's limited field of view (FOV), there is room for enhancing their positioning and utility. Our next significant project phase should center on the design and optimisation of existing and new VAs, primarily in a visual form, but also exploring auditory [20] and haptic [21] cues. VAs play a critical role in enhancing the user experience, particularly by improving control precision and environmental awareness.…”

mentioning

confidence: 99%

Virtual Reality Interface Evaluation for Earthwork Teleoperation

Saunier,

Hoffmann,

Preda

et al. 2023

Electronics

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Automation and robotics are destined to play a critical role in the Industry 4.0 revolution, as illustrated by the emergence of autonomous machinery in earthwork operations. Despite rapid progress, autonomous agents will always require human supervision to instruct their mission and to guaranty safety when unexpected problems arise. Traditional human supervision requires an operator to physically enter each machine at risk and manually take control. This approach is time-consuming and requires highly qualified personnel capable of operating various machines. This process can be hastened and simplified by means of teleoperated supervision, which itself requires the appropriate interface. In this paper we evaluate a virtual reality (VR)-based interface using hybrid interactions and an immersive digital-twin compared to a real-life control. We compare these interfaces through control tasks performed by expert and non-expert operators, analyzing time and precision, as well as user feedback. The preliminary results show that the VR interface brings equivalent and satisfactory performances for experts and improves the efficiency of apprentices. Therefore, not only does everyone performs well in the virtual environment, but also the training time can be shortened significantly as non-experts can perform similarly under the same conditions.

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“…There have been numerous successful cases of integrating robot systems with machine vision. In reference [5], combining stereo vision with virtual reality and heavy-duty industrial robots improved operational efficiency by enabling the robots to handle heavy loads. Reference [6] utilized a combination of 2D and 3D vision to accomplish positioning and grasping tasks for mobile platforms and 6DOF robots.…”

mentioning

confidence: 99%

Research on Robot Monocular Vision-Based 6DOF Object Positioning and Grasping Approach Combined With Image Generation Technology

Wan,

Chen,

Zhang

et al. 2023

IEEE Access

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In order to tackle the challenges related to poor positioning accuracy and high usage cost of 6DOF visual measurement systems in industrial settings, this paper presents a monocular vision-based robot vision guidance approach. The goal is to address the issues of expensive 6DOF pose measurement and limited measurement robustness when robots need to manipulate metal objects in industrial environments. The proposed approach enables precise and robust measurement of the 6DOF pose of the target workpiece. The approach integrates two main algorithms: a virtual reality-based image data enhancement algorithm and a 6DOF pose measurement algorithm that combines a multi-keypoint detection model and the Efficient Perspective-n-Points (EPnP) algorithm. The image data enhancement algorithm enhances the data of small-sample industrial objects using image enhancement techniques. This improves the robustness of the detection model by mitigating the challenges of high-cost image acquisition and long acquisition time associated with industrial objects. On the other hand, the 6DOF pose measurement algorithm performs the pose measurement of the target workpiece using a single image, enabling cost-effective 6DOF pose measurement by utilizing only a monocular camera. Experimental results demonstrate that the proposed method achieves measurement errors of 4.21% in the X direction, 2.94% in the Y direction, and 0.39% in the Z direction of the target workpiece. These results highlight the effectiveness of the proposed approach in achieving accurate and reliable pose measurement.

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Human-machine interface for a master-slave hydraulic manipulator with vision enhancement and auditory feedback

Cited by 10 publications

References 30 publications

Framework to Estimate Operating Intention for a Leader–Follower Robot

Framework to Estimate Operating Intention for a Leader–Follower Robot

Virtual Reality Interface Evaluation for Earthwork Teleoperation

Research on Robot Monocular Vision-Based 6DOF Object Positioning and Grasping Approach Combined With Image Generation Technology

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