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Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

Hulin, Thomas and Panzirsch, Michael and Singh, Harsimran and Coelho, Andre and Balachandran, Ribin and Pereira, Aaron and Weber, Bernhard and Bechtel, Nicolai and Riecke, Cornelia and Brunner, Bernhard and Lii, Neal Yi-Sheng and Klodmann, Julian and Hellings, Anja and Hagmann, Katharina and Quere, Gabriel and Bauer, Adrian Simon and Sierotowicz, Marek and Lampariello, Roberto and Vogel, Jörn and Dietrich, Alexander and Leidner, Daniel and Ott, Christian and Hirzinger, Gerhard and Albu-Schäffer, Alin Olimpiu (2021) Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. Frontiers in Robotics and AI, 8 (611251). Frontiers Media S.A. doi: 10.3389/frobt.2021.611251. ISSN 2296-9144.

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Abstract

Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.

Item URL in elib:https://elib.dlr.de/142975/
Document Type:Article
Title:Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Hulin, ThomasThomas.Hulin (at) dlr.dehttps://orcid.org/0000-0002-3814-075X
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Coelho, Andreandre.coelho (at) dlr.dehttps://orcid.org/0000-0002-0917-5574
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Pereira, AaronAaron.Pereira (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Bechtel, NicolaiNicolai.Bechtel (at) dlr.deUNSPECIFIED
Riecke, CorneliaCornelia.Riecke (at) dlr.deUNSPECIFIED
Brunner, BernhardBernhard.Brunner (at) dlr.deUNSPECIFIED
Lii, Neal Yi-ShengNeal.Lii (at) dlr.deUNSPECIFIED
Klodmann, JulianJulian.Klodmann (at) dlr.deUNSPECIFIED
Hellings, AnjaAnja.Hellings (at) dlr.deUNSPECIFIED
Hagmann, Katharinakatharina.hagmann (at) dlr.deUNSPECIFIED
Quere, GabrielGabriel.Quere (at) dlr.dehttps://orcid.org/0000-0002-1788-3685
Bauer, Adrian Simonadrian.bauer (at) dlr.dehttps://orcid.org/0000-0002-1171-4709
Sierotowicz, MarekMarek.Sierotowicz (at) dlr.dehttps://orcid.org/0000-0001-8040-6438
Lampariello, RobertoRoberto.Lampariello (at) dlr.dehttps://orcid.org/0000-0002-8479-2900
Vogel, JörnJoern.Vogel (at) dlr.dehttps://orcid.org/0000-0002-1987-0028
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Leidner, Danieldaniel.leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Hirzinger, GerhardGerd.Hirzinger (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:11 June 2021
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:8
DOI :10.3389/frobt.2021.611251
Editors:
EditorsEmailEditor's ORCID iD
Zoulias, Ioannis D.United Kingdom Atomic Energy Authority, United KingdomUNSPECIFIED
Publisher:Frontiers Media S.A
Series Name:Legacy Disruptors in Applied Telerobotics
ISSN:2296-9144
Status:Published
Keywords:telerobotics, model-augmented telemanipulation, shared control, shared autonomy, haptic constraints
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Hulin, Thomas
Deposited On:26 Jul 2021 16:11
Last Modified:26 Jul 2021 16:11

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