Proceedings ArticleDOI
Haptic guidance in bilateral teleoperation: Effects of guidance inaccuracy
Jan Smisek,M.M. van Paassen,Andre Schiele +2 more
- pp 500-505
TLDR
The Lawrence teleoperation framework is extended by addition of an impedance type, position based attractive haptic guidance and analyzed from a control system perspective to analyze the effects of inaccuracies of haptic Guidance systems during execution of constrained tasks.Abstract:
The purpose of this paper is to analyze the effects of inaccuracies of haptic guidance systems during execution of constrained tasks. The Lawrence teleoperation framework is extended in this paper by addition of an impedance type, position based attractive haptic guidance and analyzed from a control system perspective. Specifically, we focus on systems where haptic guidance is used together with position or force based feedback from a slave robot to a master device. The forces due to the inaccuracy of the guidance partially counteract the feedback force, effectively masking this problematic inaccuracy from the operator. This effect is discussed by using the proposed framework and quantified. Theoretical results are supported with numerical simulation and experimentally verified on a real 6-DOF haptic teleoperation setup.read more
Citations
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Proceedings ArticleDOI
Enhancing bilateral teleoperation using camera-based online virtual fixtures generation
TL;DR: An interactive system to enhance bilateral teleoperation through online virtual fixtures generation and task switching using a stereo camera system which provides accurate information of the surrounding environment of the robot and of the tasks that have to be performed in it is presented.
Journal ArticleDOI
Toward versatile cooperative surgical robotics: a review and future challenges
TL;DR: The proposed device profiles of cooperative surgical robots could lay the foundation for integration into open and modular dynamic “plug and play” networks in the operating room to enhance versatility, benefit-to-cost ratio and, thereby, market spread of surgical robotics.
Proceedings ArticleDOI
Using learning from demonstration to generate real-time guidance for haptic shared control
TL;DR: This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator ‘guidance’.
Proceedings ArticleDOI
Vision based virtual fixture generation for teleoperated robotic manipulation
TL;DR: A vision-based system for online virtual fixture generation suitable for manipulation tasks using remote controlled robots that makes use of a stereo camera system which provides accurate pose estimation of parts within the surrounding environment of the robot using features detection algorithms.
Journal ArticleDOI
Using Gaussian Mixture Models for Gesture Recognition During Haptically Guided Telemanipulation
TL;DR: This paper extends the LfD approach for object telemanipulation where the task to be solved is divided into a set of gestures that need to be detected, and each gesture is previously trained and encoded within a Gaussian mixture model using L fD, and stored in a gesture library.
References
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Journal ArticleDOI
Stability and transparency in bilateral teleoperation
TL;DR: It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
Haptic shared control: smoothly shifting control authority?
TL;DR: It is concluded that although the continuous intuitive physical interaction inherent in haptic shared control is expected to reduce long-term issues with human-automation interaction, little experimental evidence for this is provided and future research on haptic share control should focus more on issues related to long- term use such as trust, overreliance, dependency on the system, and retention of skills.
Journal ArticleDOI
Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators
TL;DR: A common four-channel bilateral control architecture designed for the above impedance models is extended to teleoperation systems with master and slave manipulators of either the admittance or impedance type, and control parameters that provide perfect transparency under ideal conditions are found for each type of teleoperation system.
Journal ArticleDOI
Vision-assisted control for manipulation using virtual fixtures
TL;DR: The design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales based on an admittance control algorithm that implements a broad class of guidance modes called virtual fixtures is presented.
Proceedings ArticleDOI
Vision assisted control for manipulation using virtual fixtures
TL;DR: The design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales based on an admittance control algorithm that implements a broad class of guidance modes called virtual fixtures is presented.