TY - GEN
T1 - Haptic intention augmentation for cooperative teleoperation
AU - Panzirsch, Michael
AU - Balachandran, Ribin
AU - Artigas, Jordi
AU - Riecke, Cornelia
AU - Ferre, Manuel
AU - Albu-Schaeffer, Alin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force feedback to each operator is enhanced by information on the motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.
AB - Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force feedback to each operator is enhanced by information on the motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.
KW - ISS
KW - cooperation
KW - haptic augmentation
KW - operator intention
KW - teleoperation
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=85028025172&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989627
DO - 10.1109/ICRA.2017.7989627
M3 - Conference contribution
AN - SCOPUS:85028025172
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5335
EP - 5341
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -