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Toward understanding the effects of visual- and force- feedback on robotic hand grasping performance for space teleoperation

Lii, Neal Y. and Chen, Zhaopeng and Pleintinger, benedikt and Borst, Christoph H. and hirzinger, Gerd and Schiele, Andre (2010) Toward understanding the effects of visual- and force- feedback on robotic hand grasping performance for space teleoperation. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 18-22 Oct. 2010, Taipei, Taiwan.

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Abstract

This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria critical to telemanipulation in space: 1) grasping task completion time, 2) grasping task difficulty, 3) grasp quality, and 4) difficulty level for the operator to assess the grasp quality. Several test subjects were allocated to remotely grasp regular and irregular shaped objects, under different combinations of visual- and forcefeedback conditions. This work categorized the benefits of visual- and force-feedback in teleoperated grasping through several performance metrics. Furthermore, it has been shown that, with local joint-level impedance control, good grasping performance with rigid hard objects can be achieved, even with limited force-feedback information and low communication bandwidth. On the other hand, a performance ceiling was also found when grasping deformable objects, where the limited force-feedback setup cannot sufficiently reflect the object boundary to the teleoperator.

Item URL in elib:https://elib.dlr.de/80501/
Document Type:Conference or Workshop Item (Paper)
Title:Toward understanding the effects of visual- and force- feedback on robotic hand grasping performance for space teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Pleintinger, benediktBenedikt.pleintinger (at) dlr.deUNSPECIFIED
Borst, Christoph H.christoph.borst (at) dlr.deUNSPECIFIED
hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Schiele, Andreandre.schiele (at) esa.intUNSPECIFIED
Date:October 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 3745-3752
Status:Accepted
Keywords:Space teleoperation, Robot hand grasp performance, force-feedback, visual feedback
Event Title:2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Taipei, Taiwan
Event Type:international Conference
Event Dates:18-22 Oct. 2010
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Lii, Neal Yi-Sheng
Deposited On:11 Jan 2013 14:30
Last Modified:31 Jul 2019 19:39

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