Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements

Abstract

In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling the telemanipulation system while reducing the mental workload of the operator and therefore the amount of erroneous commands. Similar principles apply for controlling the viewpoint of real or virtual cameras to facilitate manipulation or navigation tasks.

A Design Space of Control Coordinate Systems in Telemanipulation

“…While many 3D input devices have been developed, lowdimensional input devices such as joysticks and computer mice are still widely used in professional teleoperation systems such as surgical robots [20], assistive robots [21], disaster rescue robots [22], and space exploration robots [23]. Different kinds of 2D input devices have been used for a human operator to specify the position of a robot endeffector, including joysticks [24]- [27], computer mice [28], and touch screens [29], [30]. Prior research has found lowdimensional input devices to be more accurate, comfortable, and easier to use for inexperienced operators over 3D input devices [23], [27], [31], [32].…”

“…Different kinds of 2D input devices have been used for a human operator to specify the position of a robot endeffector, including joysticks [24]- [27], computer mice [28], and touch screens [29], [30]. Prior research has found lowdimensional input devices to be more accurate, comfortable, and easier to use for inexperienced operators over 3D input devices [23], [27], [31], [32]. While having many benefits, low-dimensional input devices are intrinsically limited because they can only move an end-effector in a subspace of the 3D environment.…”

“…Quere et al [36] and Mower et al [26] use task-specific control coordinate systems that utilize semantic directions (as shown in Figure 2 B&C). Finally, some prior works [6], [27] use hybrid frames. As an example, the view-dependent frame presented by Notheis et al [27] (Figure 2D) consists of the world axes that form the closest acute angles with the camera image plane.…”

“…Finally, some prior works [6], [27] use hybrid frames. As an example, the view-dependent frame presented by Notheis et al [27] (Figure 2D) consists of the world axes that form the closest acute angles with the camera image plane. By positioning the existing control coordinate systems in our design space, we demonstrate that the design space serves as a structure to organize and differentiate control coordinate systems.…”

What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality

“…In [8] a head-mounted display (HMD) was used instead of a projector. The system was used to program a trajectory of an industrial robot carrying a suspended load, in this case a ball.…”