Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

Abstract

High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.

Augmented Reality-Based Interface for Bimanual Robot Teleoperation

“…However, these tasks can be partially automated, allowing the cooperation between human and robot, introducing shared-control architectures [46]. Hence, many recent contributions have focused on human-robot interaction and, more specifically, on advanced robot teleoperation [16,30,31,[47][48][49][50][51], which is also the case of this paper.…”

Virtual Reality-Based Interface for Advanced Assisted Mobile Robot Teleoperation

“…However, these partially automated tasks can significantly benefit from human-robot cooperation by means of shared-control architectures [35]. In this sense, many contributions have been developed focusing on the human-robot interaction in teleoperation tasks [21,[36][37][38][39][40][41][42], as is the case of this work.…”

Research on Dance Motion Capture Technology for Visualization Requirements

“…Te motion of the human body is a complex process. Without considering conditions such as muscles and nervous systems, the motion of the human body can be abstracted into a simple chain system connected by some rigid bodies [23]. Te upper limb is composed of two rigid bodies connected by the elbow joint, the upper arm, and the forearm; the lower limb is composed of the two rigid bodies of the thigh and the calf connected by the hip joint, and the thigh and the calf are connected by the knee joint.…”