Hostname: page-component-669899f699-7xsfk Total loading time: 0 Render date: 2025-05-05T03:44:14.439Z Has data issue: false hasContentIssue false
  • English
  • Français

Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environments

Published online by Cambridge University Press:  14 May 2021

Sachin Kansal Open the ORCID record for Sachin Kansal [Opens in a new window] ,
Mohd Zubair ,
Bhivraj Suthar  and
Sudipto Mukherjee
Sachin Kansal*
Affiliation:
Computer Science Engineering Department, Thapar Institute of Engineering Technology, Patiala, Punjab, India
Mohd Zubair
Affiliation:
Mechatronics Engineering Department, Chungnam National University, Daejeon, South Korea
Bhivraj Suthar
Affiliation:
Mechatronics Engineering Department, Chungnam National University, Daejeon, South Korea
Sudipto Mukherjee
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, New Delhi, India
*
*Corresponding author. Email: sachinkansal87@gmail.com
Get access Rights & Permissions [Opens in a new window]

Abstract

The design and development of an upper limb exoskeleton are being discussed for the tele-operation in order to control the KUKA KR5 industrial robot. When sufficient resolution is not provided by the visual feedback, feedback of haptic provides a qualitative understanding of changes in the remote conditions. This also provides tactile feedback from the virtual and real environment. Peg in a hole operation using exoskeleton works as the master for tele-operation in order to control the robot using immersive environment as visual feedback for the operator. The application of this work can be implemented as a nuclear power generation plant.

Keywords

tele-operationremotingKUKA KR5immersive environmentKalman estimation
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 234 - 249
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Kiguchi, K., Kariya, S., Watanabe, K., Izumi, K. and Fukuda, T., “An exoskeleton robot for human elbow motion support – sensor fusion, adaptation and control,” IEEE Trans Syst Man Cybern. 31, 353–361 (2001).CrossRefGoogle Scholar
Lin, C., Goldberg, J. H. and Freivalds, A., “A non-exoskeleton optoelectric wrist goniometer,” Int J Ergon. 11(3), 233–242 (1993).CrossRefGoogle Scholar
Chen, Y., Zhang, J. F., Yang, C. J. and Niu, B., “Design and Hybrid Control of the pneumatic force-feedback systems for Arm-Exoskeleton by using on/off valve,” Mechatronics. 325–335 (2007) http://dx.doi.org/10.1016/j.mechatronics.2007.04.001CrossRefGoogle Scholar
Bergamasco, M., Allotta, B., Bosio, L., Ferretti, L., Parrini, G., Prisco, G. M., Salsedo, F. and Sartini, G., “An arm exoskeleton system for tele-operation and virtual environments applications,” IEEE Int Conf Robot Autom. 2, 1449–1454 (1994).Google Scholar
Mukherjee, S., Zubair, M., Suthar, B. and Kansal, S.. “Exoskeleton for tele-operation of industrial robot,” pp. 1–5, AIR ‘13 Advances In Robotics 2013, Pune, India July 04–06, ACM New York, NY, USA © 2013, Copyright 2013 ACM 978-1-4503-2347-5/13/07, (2013). http://dx.doi.org/10.1145/2506095.2506108.CrossRefGoogle Scholar
Mukherjee, S., Suthar, B., Kansal, S. and Zubair, M., “Closed loop autonomous calibration of tele-operation exoskeleton exoskeleton for tele-operation of industrial robot,” AIR ’13 Advances In Robotics 2013, Pune, India — July 04–06 (2013).CrossRefGoogle Scholar
Rehman, I., Ullah, S. and Raees, M., “Two hand gesture based 3D navigation in virtual environments,” Int J Interact Multi Artif Intell. 5(4), 128–140 (2018).Google Scholar
Raees, M. and Ullah, S., “GIFT: Gesture – based interaction by fingers tracking, an interaction technique for virtual environment,” Int J Interact Multi Artif Intell. 5(5), 115–125 (2018).Google Scholar
Iglesia, D., Mendes, A., Gonzalez, G., Bravo, D. and Sanatana, J., “Connected elbow exoskeleton system for rehabilitation training based on virtual reality and context-aware,” in Sensors Journal, MDPI (2020).Google Scholar
Cloud, W., “Man amplifiers: Machines that let you carry a ton,” Popul Sci. 187(5), 70–73 & 204 (1965).Google Scholar
Mosher, R. S and Engineers, S.o.A, Handyman to Hardiman: Society of Automotive Engineers (1967).CrossRefGoogle Scholar
Schmeisser, G. and Seamone, W., “An upper limb prosthesis-orthosis power and control system with multi-level potential,” J Bone Joint Surg (Am). 55(7), 1493–1501 (1973).CrossRefGoogle ScholarPubMed
Vukobratovic, M., Hristic, D. and Stojiljkovic, Z., “Development of active anthropomorphic exoskeletons,” Med Biol Eng Comput. 12(1), 66–80 (1974).CrossRefGoogle ScholarPubMed
Gopura, R. A. R. C. and Kiguchi, K., “Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties,” IEEE International Conference on Rehabilitation Robotics (ICORR) (2009).Google Scholar
Gopura, R. A. R. C., Kiguchi, K. and Bandara, D. S. V., “A brief review on upper extremity robotic exoskeleton systems,” 6th IEEE International Conference on Industrial and Information Systems (ICIIS) (2011).Google Scholar
Bogue, R., “Exoskeletons and robotic prosthetics: a review of recent developments,” Ind Rob: Int J. 36(5), 421–427 (2009).CrossRefGoogle Scholar
Gopura, R. A. R. C., Kiguchi, K. and Yang, L., “SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (2009).Google Scholar
Kiguchi, K. and Hayashi, Y., “An EMG-Based control for an upper-limb power-assist exoskeleton robot,” IEEE Trans Syst Man Cybern Part B. PP(99), 1–8 (2012).Google Scholar
Abbasi, V., Azria, B., Tabarah, E., Menon, V. and Bedirian, M., “Improved 7-DOF control of ISS robotic manipulators,” Proc 8th Int Conf Space Operations. (2004).CrossRefGoogle Scholar
Agrawal, S. K. and Fattah, A., “Gravity balancing of a spatial robotic manipulator,” Mech Mach Theor. 39(1), 1331–1344 (2004).CrossRefGoogle Scholar
https://en.wikipedia.org/wiki/Da_Vinci_Surgical_System.Google Scholar
Bulgaria, N., Sen, A., Kalra, P. and Kumar, S., “Immersive environment for robotic tele-operation,” in AIR ’15 Advances In Robotics 2015, Goa, India — July 02–04 (2015).CrossRefGoogle Scholar