A Review on Haptic Bilateral Teleoperation Systems

Nahri, Syeda Nadiah Fatima; Du, Shengzhi; Wyk, Barend Jacobus van

doi:10.1007/s10846-021-01523-x

Cited by 30 publications

(9 citation statements)

References 135 publications

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“…In summary, the continuous evolution in teleoperation paradigms, marked by integrations of emerging technologies, necessitates an ongoing re-evaluation and enrichment of the literature on teleoperation delays. The developing spheres of haptic feedback, augmented reality, and advanced control algorithms are indicating novel prospects for mitigating the adverse effects of delays [41][42][43] . These evolving considerations underscore the imperative for groundbreaking solutions such as sensory manipulation, postulated in this paper, to ameliorate the pervasive challenges posed by teleoperation delays and to fortify the amalgamation of human cognition with robotic precision.…”

Section: Robot Teleoperation Delaysmentioning

confidence: 99%

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Du,

Vann,

Zhou

et al. 2023

Preprint

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In the realm of robotics and automation, robot teleoperation, which facilitates human-machine interaction in distant or hazardous settings, has surged in significance. A persistent issue in this domain is the delays between command issuance and action execution, causing negative repercussions on operator situational awareness, performance, and cognitive load. These delays, particularly in long-distance operations, are difficult to mitigate even with the most advanced computing advancements. Current solutions mainly revolve around machine-based adjustments to combat these delays. However, a notable lacuna remains in harnessing human perceptions for an enhanced subjective teleoperation experience. This paper introduces a novel approach of sensory manipulation for induced human adaptation in delayed teleoperation. Drawing from motor learning and rehabilitation principles, it is posited that strategic sensory manipulation, via altered sensory stimuli, can mitigate the subjective feeling of these delays. The focus is not on introducing new skills or adapting to novel conditions; rather, it leverages prior motor coordination experience in the context of delays. The objective is to reduce the need for extensive training or sophisticated automation designs. A human-centered experiment involving 41 participants was conducted to examine the effects of modified haptic cues in teleoperations with delays. These cues were generated from high-fidelity physics engines using parameters from robot-end sensors or physics engine simulations. The results underscored several benefits, notably the considerable reduction in task time and enhanced user perceptions about visual delays. Real-time haptic feedback, or the anchoring method, emerged as a significant contributor to these benefits, showcasing reduced cognitive load, bolstered self-confidence, and minimized frustration. Beyond the prevalent methods of automation design and training, this research underscores induced human adaptation as a pivotal avenue in robot teleoperation. It seeks to enhance teleoperation efficacy through rapid human adaptation, offering insights beyond just optimizing robotic systems for delay compensations.

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Section: Robot Teleoperation Delaysmentioning

confidence: 99%

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Du,

Vann,

Zhou

et al. 2023

Preprint

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“…A system's parameter uncertainties and unmodelled dynamics affect the former control method. In contrast, the latter method considers various system uncertainties, such as internal perturbations, external disturbances, unmodelled dynamics, and nonlinearity [4]. One widely developed model-free controller is active disturbance rejection control (ADRC), whose model has been modified over time to execute time-delay and disturbance compensations.…”

Section: Introductionmentioning

confidence: 99%

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Nahri

Wyk

2023

Machines

Self Cite

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The latest research on disturbance rejection mechanisms has shown active disturbance rejection control (ADRC) to be an effective controller for uncertainties and nonlinear dynamics em-bedded in systems to be controlled. The significance of the ADRC controller is its model-free nature, as it requires minimal knowledge of the system model. In addition, it can actively estimate and compensate for the impact of internal and external disturbances present, with the aid of its crucial subsystem called the extended state observer (ESO). However, ADRC controller design becomes more challenging owing to different system disturbances, such as output disturbances, measure-ment noise, and varying time-delays persistent in the system’s communication channels. Most dis-turbance rejection techniques aim to reduce internal perturbations and external disturbances (input and output disturbance). However, output disturbance rejection with measurement noise under time-delay control is still a challenging problem. This paper presents a novel predictive ESO-based ADRC controller for time-delay systems by employing predictive methods to compensate for the disturbances originating from time delay. The prediction mechanism of the novel (proposed) con-troller design is greatly attributed to the extended state predictor observer (ESPO) integrated with the delay-based ADRC inside the proposed controller method. Thus, the proposed controller can predict the unknown system dynamics generated during the delay and compensate for these dy-namics via disturbance rejection under time-delay control. This approach uses the optimization mechanism to determine controller parameters, where the genetic algorithm (GA) is employed with the integral of time-weighted absolute error (ITAE) as the fitness function. The proposed controller is validated by controlling second-order systems with time delay. Type 0, Type 1, and Type 2 sys-tems are considered as the controlled plants, with disturbances (unknown dynamics due to delay and external disturbance), along with measurement noise present. The proposed controller method is compared with state-of-the-art methods, such as the modified time-delay-based ADRC method and the ESPO-based controller method. The findings indicate that the method proposed in this pa-per outperforms its existing competitors by compensating for the dynamics during the time delay and shows robust behaviour, improved disturbance rejection, and a fair extent of resilience to noise.

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“…User devices always have limited computation and energy resources, 10 thus it becomes impossible to deploy the opposite DT on these low‐end devices for real‐time predictions. Moreover, most of the existing works supposed the predicting model in opposite DT was simple and fixed, 11 which did not need constant updates to keep consistent with the dynamic physical counterpart. Although pioneers have pointed out the importance of a constant DT updating process for complex remote opposites, 12 there have been rare works in this field.…”

Section: Introductionmentioning

confidence: 99%

Digital twin‐based framework for wireless multimodal interactions over long distance

Kang,

Li,

et al. 2023

Int J Communication

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SummaryWireless multimodal interactions over long distance (WMILD) would give rise to numerous thrilling applications, such as remote touching and immersive teleoperations. However, long distances can induce large propagation delays, which makes it difficult to meet the ultra‐low latency requirements in haptic‐visual interactions. Considering existing works mainly focused on the wireless access part, this paper designs an end‐to‐end framework for general WMILD applications based on the digital twin (DT) technology and proposes an intelligent resource allocation and parameter compression scheme to guarantee WMILD performance under constraint network resources. In the framework, user device can acquire real‐time remote interactions by performing local interactions with nearby base station (BS), where a DT of the remote side is deployed to predict the remote haptic‐visual feedbacks. A reliable DT updating process is carefully designed to guarantee the DT accurately model its dynamic physical counterpart. To optimize the updating reliability, we formulate the resource allocation and parameter compression to be a constraint‐Markov decision problem, under the constraints on energy consumption, multimodal interactions and updating latencies. Then, a safe deep reinforcement learning algorithm is proposed to adapt resources and compression according to the dynamic DT updating workload, multimodal data‐streams and remote transmission capacities. Simulation shows the framework can achieve high updating reliability compared with baselines.

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A Review on Haptic Bilateral Teleoperation Systems

Cited by 30 publications

References 135 publications

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Predictive Extended State Observer-Based Active Disturbance Rejection Control for Systems with Time Delay

Digital twin‐based framework for wireless multimodal interactions over long distance

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