Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation

Babarahmati, Keyhan Kouhkiloui; Tiseo, Carlo; Rouxel, Quentin; Li, Zhibin; Mistry, Michael

doi:10.1109/icra48506.2021.9561968

Cited by 14 publications

(21 citation statements)

References 31 publications

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“…Hence, our metric could be used to assess human movement in teleoperation [16] especially with the use of MR technologies [15]. For example, teleoperation studies attempting to evaluate the use of new sensory feedback or techniques, such as bilateral operation with haptic feedback to complete 3D tasks [18], could greatly benefit from a 3D metric on how it affects human performance. We support this from our results, as our formulation can capture the complex spatial settings in 3D space associated with such scenarios.…”

Section: Discussionmentioning

confidence: 99%

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Metrics for 3D Object Pointing and Manipulation in Virtual Reality

Triantafyllidis¹,

Hu²,

McGreavy³

et al. 2021

Preprint

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Assessing the performance of human movements during teleoperation and virtual reality is a challenging problem, particularly in 3D space due to complex spatial settings. Despite the presence of a multitude of metrics, a compelling standardized 3D metric is yet missing, aggravating inter-study comparability between different studies. Hence, evaluating human performance in virtual environments is a long-standing research goal, and a performance metric that combines two or more metrics under one formulation remains largely unexplored, particularly in higher dimensions. The absence of such a metric is primarily attributed to the discrepancies between pointing and manipulation, the complex spatial variables in 3D, and the combination of translational and rotational movements altogether. In this work, four experiments were designed and conducted with progressively higher spatial complexity to study and compare existing metrics thoroughly. The research goal was to quantify the difficulty of these 3D tasks and model human performance sufficiently in full 3D peripersonal space. Consequently, a new model extension has been proposed and its applicability has been validated across all the experimental results, showing improved modelling and representation of human performance in combined movements of 3D object pointing and manipulation tasks than existing work. Lastly, the implications on 3D interaction, teleoperation and object task design in virtual reality are discussed.

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Section: Discussionmentioning

confidence: 99%

“…directions and inclinations. During interactions either in VR or teleoperation, all four aspects are a fundamental and inseparable part of human motion in 3D [2], [10], [14], [18].…”

Section: B Importance and Limitations Of Fitts' Lawmentioning

confidence: 99%

Metrics for 3D Object Pointing and Manipulation in Virtual Reality

Triantafyllidis¹,

Hu²,

McGreavy³

et al. 2021

Preprint

Self Cite

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“…The Fractal Impedance Controller is a recently introduced control framework, enabling interaction control in redundant manipulators without relying on null-space projections [24][25][26][27][28]. The FIC is an asymptotically stable conservative field that can be defined in non-linear spaces (e.g., quaternion, spherical), enabling to defined simply connected energetic manifolds in generalised coordinates [24][25][26][27][28]. Once the task-space controller has been calibrated for the system's physical properties, it is globally stable, and it does not require observing the null-space energy to guarantee its stability [25,27].…”

Section: Preliminariesmentioning

confidence: 99%

“…The Fractal Impedance Controller is a recently introduced passive controller that generates an asymptotically stable force field around the desired state [25,27]. The FIC is robust delays and low-bandwidth in the feedback loop, being its energy path independent, and multiple controllers can be added in parallel or series without affecting stability [25,26,28]. Its autonomous harmonic trajectories have upper-bounded energy and maximum power, guaranteeing global asymptotic stability in all the workspace in fixed-base robots and asymptotic stability within the base of support in mobile robots [27,28].…”

Section: The Fractal Impedance Controllermentioning

confidence: 99%

Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators

Tiseo,

Charitos,

Mistry

2021

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Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide insights into overcoming these limitations due to the high dexterity and stability observable in humans and animals. This work presents a geometrical solution to the postural optimisation of 7-DoF limbs-like mechanisms, which are robust to singularities and computationally efficient. The theoretical formulation identified two separate decoupled optimisation strategies. The shoulder and elbow strategy align the plane of motion with the expected plane of motion and guarantee the reachability of the end-posture. The wrist strategy ensures the end-effector orientation, which is essential to retain manipulability when nearing a singular configuration. The numerical results confirmed the theoretical observations and allowed us to identify the effect of different grasp strategies on system manipulability. The geometrical method was numerically tested in thousands of configurations proving to be both robust and accurate. The tested scenarios include left and right arm postures, singular configurations, and walking scenarios. The proposed geometrical approach can find application in developing efficient and robust interaction controllers that could be applied in computational neuroscience and robotics.

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“…A haptic task can be defined as an action that relies on the sense of touch for its completion or for achieving maximum dexterity of interaction [11]. As a consequence, haptics is often encountered when providing force feedback to an operator [12]- [14]. However, the development of prosthetic, humanoid robotics and the deployment of robots in unstructured environments has shown the importance of robust control architectures capable of adjusting the trade-off between interaction force and position online [2], [7], [15].…”

Section: Imentioning

confidence: 99%

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems

Tiseo,

Merkt,

Babarahmati

et al. 2021

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Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to reproduce in robots, especially when dealing with complex interaction dynamics, distributed contacts, and contact switching. Current model-based controllers require accurate interaction modelling to account for contacts and stabilise the interaction. In this manuscript, we propose an adaptive force/position controller that exploits the fractal impedance controller's passivity and non-linearity to execute a finite search algorithm using the force feedback signal from the sensor at the end-effector. The method is computationally inexpensive, opening the possibility to deal with distributed contacts in the future. We evaluated the architecture in physics simulation and showed that the controller can robustly control the interaction with objects of different dynamics without violating the maximum allowable target forces or causing numerical instability even for very rigid objects. The proposed controller can also autonomously deal with contact switching and may find application in multiple fields such as legged locomotion, rehabilitation and assistive robotics.

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Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation

Cited by 14 publications

References 31 publications

Metrics for 3D Object Pointing and Manipulation in Virtual Reality

Metrics for 3D Object Pointing and Manipulation in Virtual Reality

Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems

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