User Perception and Preference in Model Mediated Telemanipulation

Mitra, Probal; Gentry, Diana; Niemeyer, G.

doi:10.1109/whc.2007.122

“…9 right) |f s | ≤ f thres and |f m | > 0 where f m is the received master force on the slave side. A similar solution as proposed in [25,41] is employed to address this issue.…”

Section: Position Error Compensation and Force Protectionmentioning

confidence: 99%

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Xu

¹

,

Çizmeci

²

,

Al-Nuaimi

³

et al. 2014

IEEE Trans. Instrum. Meas.

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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“…9 right) |f s | ≤ f thres and |f m | > 0 where f m is the received master force on the slave side. A similar solution as proposed in [25,41] is employed to address this issue.…”

Section: Position Error Compensation and Force Protectionmentioning

confidence: 99%

Point-cloud-based model-mediated teleoperation

Xu

¹

,

Cizmeci

²

,

Steinbach

³

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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“…by giving the user a short force impulse or displaying blinking graphics. The choice of transition method will depend on users' preferences and their ability to adapt to changing environment models1 this specific topic has been further investigated by Mitra et al (2007).…”

Section: Model Trackingmentioning

confidence: 99%

Model-mediated Telemanipulation

Mitra

¹

,

Niemeyer

²

2008

The International Journal of Robotics Research

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This paper presents a user-centered, model-mediated approach to bilateral telemanipulation under large communication delays. Assuming that the environment is only slowly or infrequently changing, it mitigates user perception difficulties and allows stable motion and force interactions with the remote environment. Rather than directly sending slave sensory data to the user, the method abstracts the data to form a very simple model of the environment. The model is transmitted to the master, where it is haptically rendered for user feedback without any lag. In return, the slave only executes force or motion commands consistent with the model. This effectively mediates the master—slave interaction. Particular attention is placed on the system behavior as it adjusts to unexpected environment interactions and as the model updates. The basic principles of the approach are demonstrated on a simple one degree-of-freedom telerobotic system operating with four seconds of round-trip delay.

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User Perception and Preference in Model Mediated Telemanipulation

Cited by 13 publications

References 14 publications

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Point-cloud-based model-mediated teleoperation

Model-mediated Telemanipulation

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