Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation

Chciuk, M.; Milecki, Andrzej; Bachman, P.

doi:10.1007/978-3-319-54042-9_25

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…The simplest example of this is the force-feedback-enabled joystick. Chciuk et al ( 2017 ) used a force-feedback joystick to teleoperate a robotic arm, and showed that the physical feedback provided a significant improvement to the performance of the user. Another example of a force-feedback joystick was developed by Riecke et al ( 2016 ) for teleoporating robots in space.…”

Section: Introductionmentioning

confidence: 99%

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback

2018

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Advances in soft robotics provide a unique approach for delivering haptic feedback to a user by a soft wearable device. Such devices can apply forces directly on the human joints, while still maintaining the safety and flexibility necessary for use in close proximity to the human body. To take advantage of these properties, we present a new haptic wrist device using pressure-driven soft actuators called reverse pneumatic artificial muscles (rPAMs) mounted on four sides of the wrist. These actuators are originally pre-strained and release compressive stress under pressure, applying a safe torque around the wrist joints while being compact and portable, representing the first soft haptic device capable of real-time feedback. To demonstrate the functional utility of this device, we created a virtual path-following task, wherein the user employs the motion of their wrist to control their embodied agent. We used the haptic wrist device to assist the user in following the path and study their performance with and without haptic feedback in multiple scenarios. Our results quantify the effect of wearable soft robotic haptic feedback on user performance. Specifically, we observed that our haptic feedback system improved the performance of users following complicated paths in a statistically significant manner, but did not show improvement for simple linear paths. Based on our findings, we anticipate broader applications of wearable soft robotic haptic devices toward intuitive user interactions with robots, computers, and other users.

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Section: Introductionmentioning

confidence: 99%

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback

2018

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The Use of Force Feedback to Control the Robot During Drilling

Chciuk

Milecki

2019

Advances in Intelligent Systems and Computing

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A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Teleoperation

Xie

et al. 2022

Chin. J. Mech. Eng.

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The teleoperation of a 6 degrees-of-freedom (DOF) manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications. The master interface based on the force/torque (FT) sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input. However, due to the force coupling, noise disturbance and unlimited input signals of the FT sensor, this force-sensed interface could not be widely used in practice. In this paper, we present an intuitive teleoperation method based on the FT sensor to overcome these challenges. In this method, the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm, with the merits of anti-interference, output limitation, and online velocity adjustment. Furthermore, based on the admittance control and position controller, the manipulator could be teleoperated by the force commands. Three experiments were conducted on our self-designed robotic system. The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm. Then, a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm. The proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.

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Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation

Cited by 3 publications

References 12 publications

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback

The Use of Force Feedback to Control the Robot During Drilling

A Novel 6-DOF Force-Sensed Human-Robot Interface for an Intuitive Teleoperation

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