Abstract
We present a method for interactively generating virtual fixtures for shared teleoperation in unstructured remote environments. The proposed method allows a human operator to intuitively assign various types of virtual fixtures on-the-fly to provide virtual guidance forces helping the operator to accomplish a given task while minimizing the cognitive workload. The proposed method augments the visual feedback image from the slave’s robot video camera with automatically extracted geometric features (shapes, surfaces, etc.) computed from both depth and color video sensor attached next to the slave robot’s base. The human operator can select a feature on the computer screen which is then automatically associated with a virtual haptic fixture. The performance of the proposed method was evaluated with a peg-in-hole task and the experiment showed improvements in teleoperation performance.
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Acknowledgements
This research is supported by the project “Toward the Next Generation of Robotic Humanitarian Assistance and Disaster Relief: Fundamental Enabling Technologies (10069072)” and by the project “Development of core teleoperation technologies for maintaining and repairing tasks in nuclear power plants” funded by the Ministry of Trade, Industry & Energy of S. Korea.
I. Farkhatdinov was partially supported by the UK EPSRC in the framework of the National Centre for Nuclear Robotics project (EP/R02572X/1).
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Pruks, V., Farkhatdinov, I., Ryu, JH. (2018). Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_55
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