Fine Manipulation and Dynamic Interaction in Haptic Teleoperation

Tiseo, Carlo; Rouxel, Quentin; Li, Zhibin; Mistry, Michael

doi:10.48550/arxiv.2109.04524

Cited by 2 publications

(2 citation statements)

References 13 publications

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“…The controller used for the haptic feedback on the Sigma 7 is adopted from our previous work and its technical details can be found in [19]. The target end-effector pose X target op for the two command modes in the bimanual mode can be computed by Eq.…”

Section: A Operator Interfacementioning

confidence: 99%

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

Wen¹,

Rouxel²,

Mistry³

et al. 2022

Preprint

Self Cite

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This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to retarget arbitrary commands from multiple human operators into feasible control references. The collaborative manipulation framework has three main modules: (1) contact force modulation for compliant physical interactions with objects via admittance control; (2) task-space sequential equilibrium and inverse kinematics optimization, which adapts interactive commands from multiple operators to feasible motions by satisfying the task constraints and physical limits of the robots; and (3) an interaction controller adopted from the fractal impedance control, which is robust to time delay and stable to superimpose multiple control efforts for generating desired joint torques and controlling the dual-arm robots. Extensive experiments demonstrated the capability of the collaborative bimanual framework, including (1) dual-arm teleoperation that adapts arbitrary infeasible commands that violate joint torque limits into continuous operations within safe boundaries, compared to failures without the proposed optimization; (2) robust maneuver of a stack of objects via physical interactions in presence of model inaccuracy;(3) collaborative multi-operator part assembly, and teleoperated industrial connector insertion, which validate the guaranteed stability of reliable human-robot co-manipulation.

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Section: A Operator Interfacementioning

confidence: 99%

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

Wen¹,

Rouxel²,

Mistry³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The passivity also allows multiple controllers to be superimposed without affecting their stability, enabling decoupling the control problems and reducing the computational complexity [19]. Earlier teleoperation experiments showcase how the proposed architecture enables the remote operator to collaborate with another person interacting with the replica robots [18], [20]- [22].…”

Section: Introductionmentioning

confidence: 99%

Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics

Tiseo¹,

Rouxel²,

Asenov³

et al. 2022

Preprint

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Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the preliminary evaluation of a recently introduced control architecture based on the Fractal Impedance Control (FIC) in medical applications. The deployed FIC architecture is robust to delay between the master and the replica robots. It can switch online between an admittance and impedance behaviour, and it is robust to interaction with unstructured environments. Our experiments analyse three scenarios: teleoperated surgery, rehabilitation, and remote ultrasound scan. The experiments did not require any adjustment of the robot tuning, which is essential in medical applications where the operators do not have an engineering background required to tune the controller. Our results show that is possible to teleoperate the robot to cut using a scalpel, do an ultrasound scan, and perform remote occupational therapy. However, our experiments also highlighted the need for a better robots embodiment to precisely control the system in 3D dynamic tasks.

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Fine Manipulation and Dynamic Interaction in Haptic Teleoperation

Cited by 2 publications

References 13 publications

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics

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