Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environments

Abstract

The design and development of an upper limb exoskeleton are being discussed for the tele-operation in order to control the KUKA KR5 industrial robot. When sufficient resolution is not provided by the visual feedback, feedback of haptic provides a qualitative understanding of changes in the remote conditions. This also provides tactile feedback from the virtual and real environment. Peg in a hole operation using exoskeleton works as the master for tele-operation in order to control the robot using immersive environment as visual feedback for the operator. The application of this work can be implemented as a nuclear power generation plant.

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

“…Among the areas where cobots are increasingly used are medical fields such as surgical procedures and functional rehabilitation. Nevertheless, it is essential to recognize that they lack some function to better succeed in surgical operations, like haptic function [1][2][3][4][5]. In fact, in the context of robotic surgery, for instance, haptic capabilities serve as an argumentative attribute, enriching the surgeon's experience with enhanced immersion, particularly in the context of minimally invasive surgery (MIS) [6,7].…”

Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery

“…Cooperation between humans and robots plays an important role in many fields. In fact, haptic devices [1,2] are developed in order to enable its users to interact with software program or a virtual item by giving a force and torque feedback. They are used to increase the application immersion such as gaming [3,4], training in virtual environment [5][6][7], and augmented reality [8].…”