An Operator Interface for Teleprogramming Employing Synthetic Fixtures

Abstract

In the teleprogramming system an operator is presented with a virtual reality representation of a remote environment. The operator's interaction within that virtual environment is observed and translated into a sequence of robot program instructions for transmission to, and execution by, a robot at the remote site. In this paper we focus on operator interaction with the master station of the teleprogramming system. The use of synthetic fixtures to provide force and visual clues to assist the operator in performing tasks with speed and precision is discussed. It is suggested that, at least in some situations, it is both necessary and desirable to trade off realism for improved task performance. The difficulty of coping with exceptional conditions and, in particular, uncertainty in the world model used to generate the virtual environment is described and the operator interface for diagnosing and resolving errors is presented. An overview is also given of both the hardware and software used to implement master station for the teleprogramming system.

Enhancing a Telerobotics Java Tool with Augmented Reality

“…Also, even if we can use high-end displays, we are using a conventional computer monitor to display the virtual world. Our system can thus be regarded as a low cost virtual reality solution that can be used for many applications in telerobotics research [21]. Figure 4 depicts the ASSET architecture.…”

On application of virtual fixtures as an aid for telemanipulation and training

“…The tutoring and guidelines provided by virtual fixtures may consist of force clues, additional motion commands applied to the manipulator itself, restriction of the motion of the manipulator, or graphical overlay which can be used for visual clues. When the teleoperation system features a haptic force-feedback master device, force clues can be applied to the hand controller [3]. Otherwise, their operation is implemented using motion commands and movement restriction.…”

“…These force clues for example can be provided directly to the operator using haptic force feedback device as shown for example in [3]. They can also be applied directly to the manipulator, when we use a master controller without force feedback.…”

“…Previous implementation of virtual fixtures showed that they can increase speed and precision of operation, reduce operator workload, and reduce the effects of communication time delays [2], [3]. Another important area of application of such fixtures is in the area of tutoring and mentoring in the virtual training environment such as laparoscopic training environment [9].…”

Haptic interface for center-of-workspace interaction

“…For instance, computer-aided design systems employ sophisticated constraints based on concepts such as snap-dragging [3], forcing objects to line up or rotate about certain fixed axes. A related concept is the notion of "virtual fixtures", which employ force feedback to guide a user in carrying out manual and supervisory control tasks [4,5]. There are of course many constraints inherent in real world interaction; e.g.…”