Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration

Liu, Guanyang; Geng, Xuda; Liu, Lingzhi; Wang, Yan

doi:10.1016/j.cja.2018.07.009

Cited by 44 publications

(16 citation statements)

References 44 publications

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“…Haptic rendering, associated with virtual/augmented reality, is an emerging term within the field of gaming (Tokuyama et al, 2019), robot control (Liu et al, 2019), training/rehabilitation (Bortone et al, 2018), and human-machine interaction (Sanfilippo et al, 2015;Sanfilippo and Pacchierotti, 2018;Sanfilippo and Pacchierotti, 2020). Haptic rendering is the process of computing and generating forces in response to user interactions with virtual objects (Salisbury et al, 1995).…”

Section: A Biomechatronics Lab For Rehabilitation Studiesmentioning

confidence: 99%

Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment

Madshaven

Markseth

Jomås

et al. 2021

Front. Virtual Real.

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Virtual reality (VR) technology is a promising tool in physical rehabilitation. Research indicates that VR-supported rehabilitation is beneficial for task-specific training, multi-sensory feedback, diversified rehabilitation tasks, and patient motivation. Our first goal was to create a biomechatronics laboratory with a VR setup for increasing immersion and a motion platform to provide realistic feedback to patients. The second goal was to investigate possibilities to replicate features of the biomechatronics laboratory in a home-based training system using commercially available components. The laboratory comprises of a motion platform with 6-degrees-of-freedom (Rexroth eMotion), fitted with a load cell integrated treadmill, and an Oculus Quest virtual reality headset. The load cells provide input for data collection, as well as VR motion control. The home-based rehabilitation system consists of a Nintendo Wii Balance Board and an Oculus Rift virtual reality headset. User studies in the laboratory and home environment used direct observation techniques and self-reported attitudinal research methods to assess the solution’s usability and user experience. The findings indicate that the proposed VR solution is feasible. Participants using the home-based system experienced more cybersickness and imbalance compared to those using the biomechatronics laboratory solution. Future studies will look at a setup that is safe for first patient studies, and exercises to improve diagnosis of patients and progress during rehabilitation.

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Section: A Biomechatronics Lab For Rehabilitation Studiesmentioning

confidence: 99%

Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment

Madshaven

Markseth

Jomås

et al. 2021

Front. Virtual Real.

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show abstract

“…However, when the size of the master hand is much smaller than that of the slave manipulator, the displacement and speed on the end of the master are amplified for the slave, which makes the fine operation quite difficult. There are many mapping methods for heterogeneous teleoperation, such as joint-joint mapping, point-point mapping in the workspace, rate mapping, and hybrid mapping [13][14][15][16][17]. The main problems are the difference between the master and slave motion tracks and the difference between the master and slave workspaces [18].…”

Section: Introductionmentioning

confidence: 99%

6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot

Chen

Wang²,

Tang³

et al. 2022

Machines

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In the master-slave heterogeneous teleoperation, the workspace of the slave manipulator is usually much larger than that of the master manipulator. This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy to map the workspace of the manipulators without changing the operation accuracy. The hybrid control includes the admittance and force control based on the feedback of the force sensor at the end of the manipulator. The two control strategies switched autonomously through the positioning of the Sigma.7 handle in the workspace. Compared with the classic bilateral teleoperation control, it overcomes the limitation of pre-matching the workspace of the master and slave. When the tool contacts a rigid environment, the robot can make adaptive compensation through the admittance controller even if the operator has not responded. We conduct extensive experiments to evaluate the changes in displacement and velocity before and after the switching process and under different admittance controller parameters. Finally, teleoperation is applied to live-line operation in distribution networks. The experiment proved that the control strategy is more consistent with human operation habits and can improve assembly success rate and efficiency.

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“…For example, Weng et al [7] proposed a telemanipulation-based human-robot collaboration method to teach aerospace masking skills using a handheld controller. Liu et al [8] designed a hapticbased teleoperation system for a large-sized space exploration slave robot, which is composed of 3R and DELTA mechanisms. Wu et al [9] proposed a vision-based human-robot teleoperation system based on monocular human pose estimation convolutional neural networks.…”

Section: Introductionmentioning

confidence: 99%

Master-Slave Arm Heterogeneous Mapping With Link Pose Constraint in Teleoperation System

Zhang

Zhai

et al. 2022

IEEE Access

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In order to solve the problem in master-slave heterogeneous teleoperation systems, which is that the inverse solution of robot cannot be achieved when the mapped wrist joint exceeds the reachable space of robot wrist joint, a master-slave heterogeneous mapping method based on link pose constraint is proposed. The link pose constraint means that the position and orientation of robot hand link are the same or similar to that of exoskeleton hand link. In the proposed method, the link pose constraint is used in an exoskeleton-based heterogeneous teleoperation system to realize consistent mapping between the exoskeleton and robot hand link inside wrist joint reachable space, and to realize effective inverse solution and consistent mapping of the end effector (EE) outside the reachable space. A simulation was performed by using the proposed method. The simulation results show that the proposed method can effectively realize the mapping between the exoskeleton and robot in the reachable space of robot EE. The teleoperation experimental setup was constructed by using the developed exoskeleton and an industrial robot, and the verification experiments of the proposed mapping method were performed. The experimental results indicate that the position error of the proposed heterogeneous mapping method is 0.48 mm. The experimental results demonstrate that the proposed mapping method can effectively realize master-slave heterogeneous mapping and realize continuous motion control of the teleoperation system, which satisfies the application requirements of human-robot integration, robot skill enhancement, and robot skill learning.

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Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration

Cited by 44 publications

References 44 publications

Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment

Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment

6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot

Master-Slave Arm Heterogeneous Mapping With Link Pose Constraint in Teleoperation System

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