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Multi-point multi-hand haptic teleoperation of a mobile robot

Horan, Ben, Najdovski, Zoran and Nahavandi, Saeid 2009, Multi-point multi-hand haptic teleoperation of a mobile robot, in RO-MAN 2009 : 18th International Symposium on Robot and Human Interactive Communication, IEEE, Piscataway, N. J., pp. 992-997.

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Title Multi-point multi-hand haptic teleoperation of a mobile robot
Author(s) Horan, Ben
Najdovski, Zoran
Nahavandi, Saeid
Conference name International Symposium on Robot and Human Interactive Communication (18th : 2009 : Toyama, Japan)
Conference location Toyama, Japan
Conference dates 27 Sept. - 2 Oct. 2009
Title of proceedings RO-MAN 2009 : 18th International Symposium on Robot and Human Interactive Communication
Editor(s) [Unknown]
Publication date 2009
Conference series IEEE International Symposium on Robot and Human Interactive Communication
Start page 992
End page 997
Publisher IEEE
Place of publication Piscataway, N. J.
Summary This paper introduces a novel approach to multi-point multi-hand haptic teleoperation of a mobile robot. The work extends upon existing approaches to provide the teleoperator with the ability to utilise one hand to achieve intuitive haptic control of the mobile robot while utilising the other hand to intuitively control the orientation (and corresponding visual information) of the robot's onboard camera. This work begins with the introduction of the intuitive haptic conical control surface which extends upon existing approaches to provide the teleoperator with an intuitive method for issuing robot motion commands whilst simultaneously displaying real-time task-dependent haptic augmentation. A novel multi-point haptic gripper prototype is then introduced providing the basis for the teleoperator to haptically utilise the camera-in-hand metaphor for intuitive control of the visual information provided by the robot's onboard camera. The distinct advantages justifying the individual approaches are discussed and it is suggested that using dual haptic modalities the teleoperator can utilise both approaches simultaneously for intuitive haptic mobile robotic teleoperation. This work represents the first stage of a continuing research project and provides innovative contributions facilitating the presented approach to mobile robotic teleoperation. The realisation of this capability enables future research to fully investigate the human factors and efficacy of the approach.
Notes ©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 9781424450817
ISSN 1944-9445
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 929999 Health not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2009, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30029276

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Created: Sun, 13 Jun 2010, 14:09:24 EST by Leanne Swaneveld