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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. Bachelorarbeit, Technical University of Munich.

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Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/139984/
Dokumentart:Hochschulschrift (Bachelorarbeit)
Zusätzliche Informationen: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
Titel:Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Gonzalez Eelman, Jaime AndresJaime.GonzalezEelman (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:17 September 2020
Erschienen in:Visuo-haptic Command Interface for Control-Architecture Adaptable Teleoperation
Referierte Publikation:Nein
Open Access:Ja
Seitenanzahl:81
Status:veröffentlicht
Stichwörter:Graphical User Interface, Human-Robot Interaction, Teleoperation, User Interface
Institution:Technical University of Munich
Abteilung:Department of Electrical and Computer Engineering
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung
Hinterlegt von: Lii, Neal Yi-Sheng
Hinterlegt am:04 Jan 2021 10:01
Letzte Änderung:04 Jan 2021 10:01

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