Evaluation of haptic guidance virtual fixtures and 3D visualization methods in telemanipulation—a user study

Huang, Kevin; Chitrakar, Digesh; Ryden, Fredrik; Chizeck, H.J.

doi:10.1007/s11370-019-00283-w

Cited by 21 publications

(10 citation statements)

References 52 publications

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“…Alternatively wearable Virtual Reality devices could be used. Finally, if haptic feedback is applied ( Delft Haptics Lab, 1994 ; Barros et al, 2015 ; Hoshino et al, 2018 ; Huang et al, 2019 ; Protocom, 2022 ), the user may be able to “feel their way” through environments with limited vision or feel objects buried in sand.…”

Section: Discussionmentioning

confidence: 99%

“…Haptics are promising because users can feel the terrain through the force feedback and adjust the gait, which aids balance when walking in 3D terrain. Current haptic devices being applied in teleoperation of legged robots include Phantom Omni ( DelftHapticsLab, 1994 ; Barros et al, 2015 ; Huang et al, 2019 ) and Touch 3D stylus ( Hoshino et al, 2018 ; Protocom, 2022 ). With one device paired with one tripod gait group, the operators are able to control the movement of robot legs ( Huang et al, 2021 ), as shown in Figure 2C .…”

Section: Introductionmentioning

confidence: 99%

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Hands to Hexapods, Wearable User Interface Design for Specifying Leg Placement for Legged Robots

et al. 2022

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Specifying leg placement is a key element for legged robot control, however current methods for specifying individual leg motions with human-robot interfaces require mental concentration and the use of both arm muscles. In this paper, a new control interface is discussed to specify leg placement for hexapod robot by using finger motions. Two mapping methods are proposed and tested with lab staff, Joint Angle Mapping (JAM) and Tip Position Mapping (TPM). The TPM method was shown to be more efficient. Then a manual controlled gait based on TPM is compared with fixed gait and camera-based autonomous gait in a Webots simulation to test the obstacle avoidance performance on 2D terrain. Number of Contacts (NOC) for each gait are recorded during the tests. The results show that both the camera-based autonomous gait and the TPM are effective methods in adjusting step size to avoid obstacles. In high obstacle density environments, TPM reduces the number of contacts to 25% of the fixed gaits, which is even better than some of the autonomous gaits with longer step size. This shows that TPM has potential in environments and situations where autonomous footfall planning fails or is unavailable. In future work, this approach can be improved by combining with haptic feedback, additional degrees of freedom and artificial intelligence.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hands to Hexapods, Wearable User Interface Design for Specifying Leg Placement for Legged Robots

et al. 2022

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“…Several studies confirm that a virtual environment where one can change its sight-of-view and provide haptic guidance (e.g. virtual fixtures) improves the system capabilities [11]- [13].…”

Section: Introductionmentioning

confidence: 89%

Visual-Inertial Telepresence for Aerial Manipulation

Lee¹,

Balachandran²,

Sarkisov³

et al. 2020

Preprint

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This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pregenerated object database. As the virtual reality has to closely match the real remote scene, we propose an extension of a marker tracking algorithm with visual-inertial odometry. Both indoor and outdoor experiments show benefits of our proposed system in achieving advanced aerial manipulation tasks, namely grasping, placing, force exertion and peg-in-hole insertion.

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“…For example, an unbounded linear effect having a positive slope results in guidance VFs (Van Oosterhout et al, 2019). A bounded nonlinear effect results in a guidance VF that is helpful when visual and haptic feedback are used (Huang et al, 2019). A negative half-plane effect with a negative slope results in forbidden-region VFs (Li et al, 2007).…”

Section: Description Of Component "Geometry"mentioning

confidence: 99%

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Pruks¹,

Ryu

2022

The International Journal of Robotics Research

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A virtual fixture (VF) is a constraint built into software that assists a human operator in moving a remote tool along a preferred path via an augmented guidance force to improve teleoperation performance. However, teleoperation generally applies to unknown or dynamic environments, which are challenging for VF use. Most researchers have assumed that VFs are pre-defined or generated automatically; however, these processes are complicated and unreliable in unknown environments where teleoperation is in high demand. Recently, a few researchers have addressed this issue by introducing a user-interactive method of generating VFs in unknown environments. However, these methods are limited to generating a single type of primitive for a single robot tool. Moreover, the accuracy of the VF generated by these methods depends on the accuracy of the human input. Thus, applications of these methods are limited. To overcome those limitations, this work introduces a novel interactive VF generation method that includes a new method of representing VFs as a composition of components. A feature-based user interface allows the human operator to intuitively specify the VF components. The new VF representation accommodates a variety of robot tools and actions. Using the feature-based interface, the process of VF generation is more intuitive and accurate. In this study, the proposed method is evaluated with human subjects in three teleoperation experiments: peg-in-hole, pipe-sawing, and pipe-welding. The experimental results show that the VFs generated by the proposed approach result in a higher manipulation quality while demonstrating the lowest total workload in all experiments. The peg-in-hole task teleoperation was the safest in terms of failure proportion and exerted force of the robot tool. In the pipe-sawing task, the positioning of the robot tool was the most accurate. In the pipe-welding task, the quality of weld was the best in terms of measured tool-trajectory smoothness and visual weld observation.

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Evaluation of haptic guidance virtual fixtures and 3D visualization methods in telemanipulation—a user study

Cited by 21 publications

References 52 publications

Hands to Hexapods, Wearable User Interface Design for Specifying Leg Placement for Legged Robots

Hands to Hexapods, Wearable User Interface Design for Specifying Leg Placement for Legged Robots

Visual-Inertial Telepresence for Aerial Manipulation

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

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