Digital Twin-empowered Model-Mediated Teleoperation using Multimodality Data with Signed Distance Fields

Mads Antonsen, Siwen Liu, Xiao Xu, Eckehard Steinbach, Francesco Chinello, Qi Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In human-in-the-loop teleoperation systems, the Quality of Task Perception (QoTP) plays an important role, significantly influencing the overall Quality of Experience (QoE). QoTP characterizes the depth of understanding a user possesses regarding remote environments and tasks. To enhance this comprehension, this paper introduces an innovative geometric modeling approach employing Truncated Signed Distance Fields (TSDF) tailored for Model-Mediated Teleoperation (MMT) systems. Our approach combines haptic and visual cues to provide real-time updates to environmental changes. To ensure optimal responsiveness, we devise a model updating scheme that achieves an effective update frequency. Capitalizing on the capabilities of a Digital Twin, the MMT system presented not only uses the existing knowledge of the remote environment but also records its dynamic alterations. Through comprehensive experimentation evaluating both the geometric modeling and the teleoperation framework, our findings underscore the robustness and applicability of the introduced geometric modeling technique.

Original languageEnglish
Title of host publication2024 IEEE Haptics Symposium, HAPTICS 2024
PublisherIEEE Computer Society
Number of pages7
ISBN (Electronic)9798350345117
StatePublished - 2024
Event28th IEEE Haptics Symposium, HAPTICS 2024 - Long Beach, United States
Duration: 7 Apr 202410 Apr 2024

Publication series

NameIEEE Haptics Symposium, HAPTICS
ISSN (Print)2324-7347
ISSN (Electronic)2324-7355


Conference28th IEEE Haptics Symposium, HAPTICS 2024
Country/TerritoryUnited States
CityLong Beach


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