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Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation

Gonzalez Eelman, Jaime Andres (2020) Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation. Bachelor's, Technical University of Munich.

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Abstract

Robotic teleoperation is the commanding of a remote robot. Depending on the operator's involvement required by a teleoperation task, the remote site is more or less autonomous. On the operator site, input and display devices record and present control-related information from and to the operator respectively. Kinaesthetic devices stimulate haptic senses, thus conveying information through the sensing of displacement, velocity and acceleration within muscles, tendons and joints. These devices have shown to excel in tasks with low autonomy while touch-screen based devices are beneficial in highly autonomous tasks. However, neither perform reliably over a broad range. This thesis examines the feasibility of the 'Motion Console Application for Novel Virtual, Augmented and Avatar Systems' (Motion CANVAAS) that unifies the input/display capabilities of kinaesthetic and visual touchscreen-based devices in order to bridge this gap. This work describes the design of the Motion CANVAAS, its construction, development and conducts an initial validation process. The Motion CANVAAS was evaluated via two pilot studies, each based on a different virtual environment: a modified Tetris application and a racing karts simulator. The target research variables were the coupling of input/display capabilities and the effect of the application-specific kinaesthetic feedback. Both studies proved the concept to be a viable solution as haptic input/output device and indicated potential advantages over current solutions. On the flip side, some of the system's limitations could be identified. With the insight gained from this work, the benefits as well as the limitations will be addressed in the future research. Additionally, a full user study will be conducted to shed light on the capabilities and performance of the device in teleoperation over a broad range of autonomy.

Item URL in elib:https://elib.dlr.de/139984/
Document Type:Thesis (Bachelor's)
Additional Information:Supervisors: Univ.-Prof. Dr.-Ing. Sandra Hirche, Chair of Information-Oriented Control, Dr.-Ing. Stefan Sosnowski, Chair of Information-Oriented Control, Dr. Neal Y. Lii, Institute of Robotics and Mechatronics in the German, Aerospace Center Peter Schmaus M.Sc., Institute of Robotics and Mechatronics in the German Aerospace Center
Title:Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gonzalez Eelman, Jaime AndresJaime.GonzalezEelman (at) dlr.deUNSPECIFIED
Date:17 September 2020
Journal or Publication Title:Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:81
Status:Published
Keywords:Graphical User Interface, Human-Robot Interaction, Teleoperation, User Interface
Institution:Technical University of Munich
Department:Department of Electrical and Computer Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lii, Neal Yi-Sheng
Deposited On:04 Jan 2021 10:01
Last Modified:04 Jan 2021 10:01

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