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Haptic Augmentation for Teleoperation through Virtual Grasping Points

Panzirsch, Michael and Balachandran, Ribin and Weber, Bernhard and Ferre, Manuel and Artigas, Jordi (2018) Haptic Augmentation for Teleoperation through Virtual Grasping Points. IEEE Transactions on Haptics. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TOH.2018.2809746 ISSN 1939-1412

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Future challenges in teleoperation arise from a new complexity of tasks and from constraints in unstructured environments. In industrial applications as nuclear research facilities, the operator has to manipulate large objects whereas medical robotics requires extremely high precision. In the last decades, research optimized the transparency in teleoperation setups through accurate hardware, higher sampling rates and improved sensor technologies. To further enhance the performance in telemanipulation, the idea of haptic augmentation has been briefly introduced in [Panzirsch et al., IEEE ICRA, 2015, pp. 312-317]. Haptic augmentation provides supportive haptic cues to the operator that promise to ease the task execution and increase the control accuracy. Therefore, an additional haptic interface can be added into the control loop. The present paper introduces the stability analysis of the resulting multilateral framework and equations for multi-DoF coupling and time delay control. Furthermore, a detailed analysis via experiments and a user study is presented. The control structure is designed in the network representation and based on passive modules. Through this passivity-based modular design, a high adaptability to new tasks and setups is achieved. The results of the user study indicate that the bimanual control brings large benefits especially in improving rotational precision.

Item URL in elib:https://elib.dlr.de/121032/
Document Type:Article
Title:Haptic Augmentation for Teleoperation through Virtual Grasping Points
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Artigas, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Date:27 February 2018
Journal or Publication Title:IEEE Transactions on Haptics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TOH.2018.2809746
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:haptic augmentation, multilateral teleoperation, MPMT, TDPA
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:10 Sep 2018 13:33
Last Modified:31 Jul 2019 20:18

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