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Multipoint haptic mediator interface for robotic teleoperation

Ang, Quan-Zen, Horan, Ben and Nahavandi, Saeid 2015, Multipoint haptic mediator interface for robotic teleoperation, IEEE systems journal, vol. 9, no. 1, pp. 86-97, doi: 10.1109/JSYST.2013.2283955.

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Title Multipoint haptic mediator interface for robotic teleoperation
Author(s) Ang, Quan-Zen
Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, Saeid
Journal name IEEE systems journal
Volume number 9
Issue number 1
Start page 86
End page 97
Total pages 12
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2015-03
ISSN 1932-8184
1937-9234
Keyword(s) bilateral teleoperation
haptic grasping
mediator interface
mobile robotics
Summary Despite recent advances in artificial intelligence and autonomous robotics, teleoperation can provide distinct benefits in applications requiring real-time human judgement and intuition. However, as robotic systems are increasingly becoming sophisticated and are performing more complex tasks, realizing these benefits requires new approaches to teleoperation. This paper introduces a novel haptic mediator interface for teleoperating mobile robotic platforms that have a variety of manipulators and functions. Identical master-slave bilateral teleoperation of the robotic manipulators is achieved by representing them in virtual reality and by allowing the operator to interact with them using a multipoint haptic device. The operator is also able to command motions to the mobile platform by using a novel haptic interaction metaphor rather than a separate dedicated input device. The presented interaction techniques enable the operator to perform a wide range of control functions and achieve functionality similar to that of conventional teleoperation schemes that use a single haptic interface. The mediator interface is presented, and important considerations such as workspace mapping and scaling are discussed. © 2015 IEEE.
Language eng
DOI 10.1109/JSYST.2013.2283955
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 890299 Computer Software and Services not elsewhere classified
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30058863

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
School of Engineering
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Created: Mon, 09 Dec 2013, 13:30:51 EST

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