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Haptic Guidance for Robot Arm Teleoperation Using Ray-Based Holistic Collision Avoidance

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Haptic Interaction (AsiaHaptics 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14063))

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Abstract

We present a haptic guidance system for teleoperating a robot arm controlled by inverse kinematics. Unlike drones or vehicles, a robot arm occupies 3D space dynamically changing with its various configurations. With limited information on the remote environment and its current configuration, the remotely controlled robot arm has a higher chance of colliding with the surroundings. Consequently, users need to maintain a high level of attention, which results in fatigue during operation. In this paper, we propose a system of haptic force guidance that is robust to both the robot arm configuration and its surroundings. Our system first computes the guiding forces at multiple points in the robot arm using ray-based depth sampling. Then, haptic force feedback is generated by aggregating guiding forces using a motion-based approximate Jacobian. Our system requires minimal prior information about the environment and the robot arm. Moreover, the proposed ray-based depth sampling method is more efficient in computation time than the widely used potential field-based approach. User studies show that our system reduces the risk of collisions, as well as the mental workload during teleoperation in a virtual environment.

H. Kim, W. Park and T. Woo—These authors contributed equally.

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Acknowledgement

This work was supported by Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government (MOTIE) (20201510300280, Development of a REMOTE DISMANTLING TRAINING SYSTEM with force-torque responding virtual nuclear power plant)

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Authors and Affiliations

  1. Korea Advanced Institute of Science and Technology, Daejeon, Korea

    Hyunsoo Kim, Wonjung Park, Taeyun Woo & Jinah Park

Authors
  1. Hyunsoo Kim
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  2. Wonjung Park
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  3. Taeyun Woo
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  4. Jinah Park
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Corresponding author

Correspondence to Jinah Park .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Dangxiao Wang

  2. Southeast University, Nanjing, China

    Aiguo Song

  3. Dalian University of Technology, Dalian, China

    Qian Liu

  4. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Ki-Uk Kyung

  5. Tohoku University, Sendai, Japan

    Masashi Konyo

  6. The University of Electro-Communications, Tokyo, Tokyo, Japan

    Hiroyuki Kajimoto

  7. Peking University, Beijing, China

    Lihan Chen

  8. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jee-Hwan Ryu

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Kim, H., Park, W., Woo, T., Park, J. (2023). Haptic Guidance for Robot Arm Teleoperation Using Ray-Based Holistic Collision Avoidance. In: Wang, D., et al. Haptic Interaction. AsiaHaptics 2022. Lecture Notes in Computer Science, vol 14063. Springer, Cham. https://doi.org/10.1007/978-3-031-46839-1_16

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  • DOI: https://doi.org/10.1007/978-3-031-46839-1_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-46838-4

  • Online ISBN: 978-3-031-46839-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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