Humanlike Inverse Kinematics for Improved Spatial Awareness in Construction Robot Teleoperation: Design and Experiment

Zhou, Tianyu; Zhu, Qi; Ye, Yang; Du, Jing

doi:10.1061/jcemd4.coeng-13350

Cited by 9 publications

(2 citation statements)

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“…This integration ensures that the various force modes are rendered in real-time, with each mode having its unique property and equation, allowing the operators to experience high-resolution interactions with the virtual environment. The motion of the haptic device is then translated into corresponding movements of the robot's end-effector through IK 73 , which is essential in enabling the human operator to control the robot's pose and grabber switch state, responding differently based on the visual and haptic feedback received due to the varying properties of objects made of different materials.…”

Section: Haptic Interface Unit (Hi)mentioning

confidence: 99%

“…Human operators operate a haptic controller (to be discussed later) to manipulate the robot's end effector in the virtual models in a virtual environment. The control data is transferred to Unity for processing, and an IK solver recovers the desired robot state, transmitted to ROS for real robot control 73 . Unity subscribes to the converged real robot state to update the digital twin model, closing the loop by visualizing it to users.…”

Section: Robot Commanding Unit (Rc)mentioning

confidence: 99%

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Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

Du,

Vann,

Zhou

et al. 2023

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In the realm of robotics and automation, robot teleoperation, which facilitates human-machine interaction in distant or hazardous settings, has surged in significance. A persistent issue in this domain is the delays between command issuance and action execution, causing negative repercussions on operator situational awareness, performance, and cognitive load. These delays, particularly in long-distance operations, are difficult to mitigate even with the most advanced computing advancements. Current solutions mainly revolve around machine-based adjustments to combat these delays. However, a notable lacuna remains in harnessing human perceptions for an enhanced subjective teleoperation experience. This paper introduces a novel approach of sensory manipulation for induced human adaptation in delayed teleoperation. Drawing from motor learning and rehabilitation principles, it is posited that strategic sensory manipulation, via altered sensory stimuli, can mitigate the subjective feeling of these delays. The focus is not on introducing new skills or adapting to novel conditions; rather, it leverages prior motor coordination experience in the context of delays. The objective is to reduce the need for extensive training or sophisticated automation designs. A human-centered experiment involving 41 participants was conducted to examine the effects of modified haptic cues in teleoperations with delays. These cues were generated from high-fidelity physics engines using parameters from robot-end sensors or physics engine simulations. The results underscored several benefits, notably the considerable reduction in task time and enhanced user perceptions about visual delays. Real-time haptic feedback, or the anchoring method, emerged as a significant contributor to these benefits, showcasing reduced cognitive load, bolstered self-confidence, and minimized frustration. Beyond the prevalent methods of automation design and training, this research underscores induced human adaptation as a pivotal avenue in robot teleoperation. It seeks to enhance teleoperation efficacy through rapid human adaptation, offering insights beyond just optimizing robotic systems for delay compensations.

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Section: Haptic Interface Unit (Hi)mentioning

confidence: 99%

Section: Robot Commanding Unit (Rc)mentioning

confidence: 99%