Abslml-The paper outlines a novel approach for perfoming explosive ordnance dbposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in delail. The teleoperation control architecture is discussed as well as a 1-1 model-based impedance control algorithm for manipulator control Human-system performance is improved hy means of stereo risualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a mently developed UDP communication library is presented for system interconnection taking Into account compression of haptic data. Thus efficient and low delay of data transfer Is e n s u d . The usahiUty and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demlning operations in a remote environment

This article presents conceptual as well as experimental work toward the display of holistic haptic sensations in telepresence and virtual environment applications. (In this context holistic is understood in the sense of “not neglecting an essential component.”) In contrast to most existing developments, the presented haptic humansystem interface is a combination of dedicated subsystems for both kinesthetic and tactile display. With respect to the mechanical coupling of both subsystems, we propose two basic approaches. One is based on a parallel kinematic system setup and forms the conceptual basis of a multifingered experimental feedback device generating vibrotactile, thermal, and wrist/finger kinesthetic stimuli. Another is to demonstrate the potential to reduce the design complexity of tactile display subsystems in haptic human-system interfaces with a serial kinematic structure. For verification purposes, a tactile actuator array providing spatially distributed tactile shape display on a single fingertip has been combined with a single-fingered kinesthetic display. Each of the investigated combined haptic systems features significant functional advances compared to existing developments. The usability of our systems has been demonstrated in haptic exploration and object identification experiments in virtual environments.

This paper outlines a novel approach of displaying multifingered tactile feedback information from remote and virtual environments. Miniature tactile fingertip modules are developed allowing multi-fingered integration into an already existing hand force exoskeleton for display of combined tactile and kinesthetic feedback. The tactile feedback comprises generation of both, vibrotactile and thermal stimuli directly at the operator's fingertip where a multitude of human tactile receptors are located. The proposed parallel configuration of integrated vibration and heat display with combined kinesthetic feedback actuators considers a novel approach towards the generation of holistic haptic sensations. Corresponding tactile rendering algorithms are presented computing realistic tactile stimuli of object properties from either remote real or virtual environments. Moreover, the article discusses the design of a developed thermal and texture sensor with corresponding data processing algorithms for online identification of tactile object properties in a remote environment. The new quality of generated multi-fingered tactile feedback was evaluated in several experiments enabling a human operator performing exploratory tasks.

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This paper presents a novel approach for performing disposal of explosive ordnances by application of bimanual haptic telepresent control technology. For improved task execution the proposed system enables an operator to perceive multimodal feedback, especially detailed kinesthetic feedback, from a remote task environment. Details of a developed experimental setup, comprising a two-handed human system interface and a corresponding two-arm teleoperator, are reported. In particular a novel structure adapting architecture for control of the display and manipulator is introduced. Human-system performance is enhanced by means of stereo visualization of the remote task environment with overlayed Augmented Reality assistance. In addition, an algorithm for avoidance of dangerous manipulator configurations is supported by augmented force feedback. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing execution of demining operations in a remote environment as a highly relevant task scenario.