Continued Advances in Supervised Autonomy User Interface Design for METERON SUPVIS Justin

Schmaus, Peter; Leidner, Daniel; Bayer, Ralph; Pleintinger, Benedikt; Krüger, Thomas; Lii, Neal Y.

doi:10.1109/aero.2019.8741885

Cited by 14 publications

(10 citation statements)

References 20 publications

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“…This was especially observed in several space telerobotics experiments. In Kontur-2 and METERON SUPVIS Justin, both carried out from the International Space Station (ISS) to ground, DLR’s dexterous humanoid robot Justin ( Fuchs et al, 2009 ) was commanded using a 2-DOF force-reflection joystick ( Artigas et al, 2016 ) and task-driven supervised autonomy based GUI ( Schmaus et al, 2019 ), respectively, to perform a variety of dexterous robotic tasks. Although the ISS crew members in both experiments were able to successfully complete their given tasks, they have expressed the desire for different UI modalities to be available for more effective teleoperation ( Lii et al, 2018 ).…”

Section: Related Workmentioning

confidence: 99%

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

et al. 2022

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Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.

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Section: Related Workmentioning

confidence: 99%

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

et al. 2022

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“…Thus, a direct remote-control of the rover, e.g. by joystick from ground station as e.g.in [26], is not possible. Also, a live stream of large amounts of data, like stereo images, depth images or the obstacle map is impossible.…”

Section: Navigation System Architecturementioning

confidence: 99%

The MMX Rover on Phobos: The Preliminary Design of the DLR Autonomous Navigation Experiment

Vayugundla

Bodenmüller

Schuster

et al. 2021

2021 IEEE Aerospace Conference (50100)

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This paper summarizes the challenges of deep space planetary robotic-exploration missions, using the example of the DLR Autonomous Navigation Experiment within the MMX Rover project, and presents a preliminary design of the proposed solution to safe navigation of the MMX Rover on Phobos. The MMX Rover, a joint contribution of the German Aerospace Center (DLR) and the Centre National d'Etudes Spatiales (CNES) is part of the Martian Moons eXploration (MMX) Mission by the Japan Aerospace Exploration Agency (JAXA), whose mission objective is to understand the origin of the two Martian moons. The mission involves scientific data collection and a sample return from Phobos, the bigger of the two Martian moons. The mission is scheduled to launch in the third quarter of 2024. The MMX Rover will fly as a payload and will be jettisoned onto Phobos from a low altitude of about 40 metres. The rover has multiple objectives: terrain assessment to mitigate the risk for the sample-return approach of the spacecraft, exploration of the surface of Phobos and act as a scientific and technology demonstration platform. In this context, the Robotics and Mechatronics Institute, DLR, is preparing to perform an Autonomous Navigation Experiment as a technology demonstration to showcase the advantages of robot autonomy for exploring distant celestial bodies. If successful, the MMX Rover will be the first man-made object to land on and explore Phobos.

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“…4) Human-Robot Interface: Recent works on haptic teleoperation systems for space missions have emphasised the need for intuitive, transparent, and safe control of remote systems [16], [17]. Aside from the control design aspects of a teleoperated system, these works consider enhanced feedback to operators through augmented display overlays.…”

Section: B Related Workmentioning

confidence: 99%

“…In addition to feedback systems, operator monitoring systems have been proposed as part of the Kontur-3 system [17], involving the use of head-mounted displays (HMD's) with gaze tracking features for evaluating operator cognitive load in ergonomics studies. A challenge with operator feedback systems is the limited space available in an in-orbit vessel, which can lead to unintuitive interfaces as designers attempt to fit interfaces to smaller displays [16]. A potential solution is to combine the mental load estimation capabilities of gazetracking HMDs with augmented reality interfaces to provide significantly greater flexibility in interface design for these systems, as explored in Section III-B.…”

Section: B Related Workmentioning

confidence: 99%

Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

Sena¹,

Rouxel²,

Ivanova

et al. 2021

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper presents a novel teleoperation system, which has been designed to address challenges in the remote control of spaceborne bimanual robotic tasks. The primary interest for designing this system is to assess and increase the efficacy of users performing bimanual tasks, while ensuring the safety of the system and minimising the user's mental load. This system consists of two seven-axis robots that are remotely controlled through two haptic control interfaces. The mental load of the user is monitored using a head-mounted interface, which collects eye gaze data and provides components for the holographic user interface. The development of this system enables the safe execution of tasks remotely, which is a critical building block for developing and deploying future space missions as well as other high-risk tasks.

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Continued Advances in Supervised Autonomy User Interface Design for METERON SUPVIS Justin

Cited by 14 publications

References 20 publications

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

The MMX Rover on Phobos: The Preliminary Design of the DLR Autonomous Navigation Experiment

Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

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