Object-based bilateral telemanipulation between dissimilar kinematic structures

Salvietti, Gionata; Meli, Leonardo; Gioioso, Guido; Malvezzi, Monica; Prattichizzo, Domenico

doi:10.1109/iros.2013.6697145

Cited by 16 publications

(10 citation statements)

References 21 publications

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“…Other more general virtual object geometries were defined in [95,96]. The validity of the whole object-based mapping procedure was demonstrated with different robotic hand models, considering both motions and exerted forces, in bilateral teleoperation tasks and through software simulation [97,98] (Fig. 1).…”

Section: From Biology To Roboticsmentioning

confidence: 99%

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Santello

Bianchi

Gabiccini

et al. 2016

Physics of Life Reviews

212

160

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The term ‘synergy’ – from the Greek synergia – means ‘working together’. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project “The Hand Embodied” (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies.

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Section: From Biology To Roboticsmentioning

confidence: 99%

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Santello

Bianchi

Gabiccini

et al. 2016

Physics of Life Reviews

212

160

View full text Add to dashboard Cite

show abstract

“…Following the approach introduced in [35] and further developed in [20], we define as command mapping a procedure necessary to provide desired control inputs to the robots within the team from the captured human operator motions. The feedback mapping is a procedure necessary to map interaction forces sensed on the robot team side to the haptic devices used at the master side.…”

Section: Mapping Strategy For Human-in-the-loop Interaction With mentioning

confidence: 99%

Human–Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

Musić

Salvietti

Dohmann

et al. 2019

IEEE Trans. Haptics

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The interaction of robot teams and single human in teleoperation scenarios is beneficial in cooperative tasks, for example the manipulation of heavy and large objects in remote or dangerous environments. The main control challenge of the interaction is its asymmetry, arising because robot teams have a relatively high number of controllable degrees of freedom compared to the human operator. Therefore, we propose a control scheme that establishes the interaction on spaces of reduced dimensionality taking into account the low number of human command and feedback signals imposed by haptic devices. We evaluate the suitability of wearable haptic fingertip devices for multi-contact teleoperation in a user study. The results show that the proposed control approach is appropriate for human-robot team interaction and that the wearable haptic fingertip devices provide suitable assistance in cooperative manipulation tasks.

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“…We further consider that it is possible to measure contact forces, h m . Following the definition introduced in [15] and further developed in [16], we define as forward mapping the procedure necessary to obtain at the slave side (robot team) the desired motions, v In this work master and slave sides refer to the human operator's hand instrumented with wearable haptics and the robot team performing the task, respectively. This mapping is suitable for the single human-robot team interaction since it does not depend on the number of robots in the team as well as on their kinematics.…”

Section: Mappings For Human-robot Team Interactionmentioning

confidence: 99%

Robot team teleoperation for cooperative manipulation using wearable haptics

Musić

Salvietti

Dohmann

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Robot teams require planning and adaptive capabilities in order to perform cooperative manipulation tasks in dynamic or unstructured environments. Since these capabilities are inherent to humans, it is suitable to consider humanrobot team teleoperation for cooperative manipulation where a single human collaborates with the robot team. In this paper, we present a subtask-based control approach which enables a simultaneous execution of two subtasks by the robot team, interacting with the object: trajectory tracking and formation preservation. Control inputs for both subtasks are provided by the human operator. The commands are projected onto the spaces of subtasks using a command mapping strategy. Analogously, measured interacting forces are projected onto the space of feedback signals, provided to the human via wearable fingertip haptic devices through a feedback mapping strategy. Experimental results validate the proposed approach.

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Object-based bilateral telemanipulation between dissimilar kinematic structures

Cited by 16 publications

References 21 publications

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

Human–Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

Robot team teleoperation for cooperative manipulation using wearable haptics

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