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Multipoint haptic mediator interface for robotic teleoperation

journal contribution
posted on 2015-03-01, 00:00 authored by Quan-Zen Ang, Ben HoranBen Horan, Saeid Nahavandi
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.

History

Journal

IEEE systems journal

Volume

9

Issue

1

Pagination

86 - 97

Publisher

IEEE

Location

Piscataway, N.J.

ISSN

1932-8184

eISSN

1937-9234

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2015, IEEE