Haptic intention augmentation for cooperative teleoperation

Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cornelia Riecke, Manuel Ferre, Alin Albu-Schaeffer

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

17 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5335-5341
Number of pages7
ISBN (Electronic)9781509046331
DOIs
StatePublished - 21 Jul 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period29/05/173/06/17

Keywords

  • ISS
  • cooperation
  • haptic augmentation
  • operator intention
  • teleoperation
  • time delay

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