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Review of Human–Machine Interfaces for Small Unmanned Systems With Robotic Manipulators

Sierra N. Young, Joshua M. Peschel
2020 IEEE Transactions on Human-Machine Systems  
Telemanipulation remains a challenging task for all levels of human interaction because the operator and the vehicle are not colocated, and operators require HMI technologies that facilitate manipulation  ...  This article reviews the human-machine interaction (HMI) technologies used for telemanipulation by small unmanned systems (SUS) with remote manipulators.  ...  Love and Book [89] found that an adaptive impedance manipulator controller reduced the total energy output of the operator when executing remote manipulation tasks compared to nonadaptation.  ... 
doi:10.1109/thms.2020.2969380 fatcat:t2ckw2gutngthb3ud3ks5r7bla

Intuitive Programming with Remotely Instructed Robots inside Future Gloveboxes

Ayan Ghosh, Sandor M. Veres, Daniel Paredes-Soto, James E. Clarke, John Anthony Rossiter
2020 Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction  
Our research aims at facilitating the design of 'Remotely Instructed Robots' for future glove-boxes in the nuclear industry.  ...  of hardware, and most importantly, have experience of the weaknesses in particular handling tasks.  ...  CONCLUSION AND FUTURE WORK This late breaking report introduced the concept and the need for an intuitive programming interface to conigure robotic manipulators inside nuclear gloveboxes, which can be  ... 
doi:10.1145/3371382.3378326 dblp:conf/hri/GhoshVSCR20 fatcat:zv4tf2dqqbghdn4yvjqfawvq54

Human Arm Posture Optimisation in Bilateral Teleoperation Through Interface Reconfiguration

Luka Peternel, Cheng Fang, Marco Laghi, Antonio Bicchi, Nikos Tsagarakis, Arash Ajoudani
2020 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)  
A more direct type of supervision can be achieved through teleoperation, where the human operator handles a robotic interface (master) in order to control a remote robot (slave) that is located in a remote  ...  After the optimal configuration was obtained from (8) for the desired task force f , we decoupled the remote robot (slave) from teleoperation loop and switched the control mode on the haptic interface  ... 
doi:10.1109/biorob49111.2020.9224339 dblp:conf/biorob/PeternelFLBTA20 fatcat:5wunr5s4qvf7jeg43xsbjgl2ci

TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface

Robert Valner, Karl Kruusamäe, Mitch Pryor
2018 Robotics  
The developed teleoperation interface, TeMoto (TeMoto is a Japanese noun, which translates as 'At Hand'), is an intuitive, hardware agnostic, supervisory controller for remote systems that properly enables  ...  an operator's innate capabilities while completing tasks remotely.  ...  Author Contributions: K.K. and M.P. conceived and designed the proposed system and experiments; K.K. and R.V. implemented the system and performed the experiments; R.V. wrote the paper with strong input  ... 
doi:10.3390/robotics7010009 fatcat:nq2dgn2arvhgpdxxjnqbl2p66e

Human Arm Posture Optimisation in Bilateral Teleoperation through Interface Reconfiguration

Luka Peternel, Cheng Fang, Marco Laghi, Antonio Bicchi, Nikos Tsagarakis, Arash Ajoudani
2020 Zenodo  
The method is based on human operator's musculoskeletal and fatigue models, whose input is the force produced by the operator through the haptic interface (master) in order to control the slave robot in  ...  The main experimental task was for the human operator to produce a reference force with the slave robot on an object in a remote environment.  ...  A more direct type of supervision can be achieved through teleoperation, where the human operator handles a robotic interface (master) in order to control a remote robot (slave) that is located in a remote  ... 
doi:10.5281/zenodo.3820051 fatcat:ztq2hqcsdvh6laq2l4owbwu42e

Intuitive, Efficient and Ergonomic Tele-Nursing Robot Interfaces: Design Evaluation and Evolution

Tsung-Chi Lin, Achyuthan Unni Krishnan, Zhi Li
2022 ACM Transactions on Human-Robot Interaction (THRI)  
We find that physical fatigue happens in the actions that involve precise manipulation and steady posture maintenance.  ...  We propose a framework to evaluate the control interfaces to iteratively develop an intuitive, efficient, and ergonomic teleoperation interface.  ...  We have demonstrated that augmenting the direct, freeform interfaces for robot control with a little bit of robot autonomy will lead to lexible and reliable robot control for complex tasks.  ... 
doi:10.1145/3526108 fatcat:j4cbje7o5bh7fgbepl5zkny5lq

Control of Kinesthetic Haptic Interfaces in VR Applications

Robert L. Williams II
1997 International Journal of Virtual Reality  
Experimental results show that the algorithms are effective for reduced contact wrenches and increased telepresence quality in practical tasks.  ...  In experimental implementation, the "VR system" was a real remotely located teleoperated robotic system with real sensed task wrenches.  ...  Control algorithms are developed which simultaneously provide Cartesian wrench feedback to the operator's hand and provide desirable characteristics to reduce operator loading and fatigue.  ... 
doi:10.20870/ijvr.1997.3.1.2617 fatcat:mea2nkdi3rfaxn6bovi2npqfj4

A Natural Interface for Remote Operation of Underwater Robots

Juan C. Garcia, Bruno Patrao, Luis Almeida, Javier Perez, Paulo Menezes, Jorge Dias, Pedro J. Sanz
2017 IEEE Computer Graphics and Applications  
This paper presents a User Interface Abstraction Layer and introduces a new procedure to control an underwater robot vehicle by using a new intuitive and immersive interface, which will show to the user  ...  For instance, in underwater domains, when manipulation capabilities are required, only Remote Operated Vehicles, commercially available, can be used, normally using master-slave architectures and relaying  ...  ACKNOWLEDGMENTS This research was partly supported by Spanish Ministry of Research and Innovation DPI2011-27977-C03 (TRITON Project).  ... 
doi:10.1109/mcg.2015.118 pmid:26571515 fatcat:hxlbkkg2lbca3paomhgdnh2f2m

Design and evaluation of robotic steering of a flexible endoscope

Jeroen Ruiter, Esther Rozeboom, Mascha van der Voort, Maarten Bonnema, Ivo Broeders
2012 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
This paper describes the design of an add-on robotic module that improves the user interface of traditional endoscopes and allows a single physician to operate it easily.  ...  We identified critical user aspects of traditional endoscopes that need to be copied in a robotic setup. In our design the physician uses a remote control that is connected to a light drive system.  ...  The remote control should be intuitive and suitable for single handed use. It ought to reduce musculoskeletal complaints of the operator and has to be operated close to the patient.  ... 
doi:10.1109/biorob.2012.6290272 fatcat:qqsxw6ommrea7kuw3efcoqoycm

Image display visualization in teleoperation

Jonathan M. Smith, Brian P. DeJong, Ernur Karadogan, James Hasbany
2017 2017 IEEE Sensors Applications Symposium (SAS)  
The goal of manipulating an image display for teleoperation is to perform visual transformations that minimize mental fatigue, performance time, and enhances the compatibility between the operator and  ...  the teleoperated system for successful task completion.  ...  INTRODUCTION AND BACKGROUND Teleoperation allows users to remotely control robots and apparati in environments that could otherwise be inaccessible.  ... 
doi:10.1109/sas.2017.7894096 fatcat:slyk3mluurevncod4grkmrlply

TAO2000 V2 computer-assisted force feedback telemanipulators used as maintenance and production tools at the AREVA NC-La Hague fuel recycling plant

Franck Geffard, Philippe Garrec, Gérard Piolain, Marie-Anne Brudieu, Jean-François Thro, Alain Coudray, Eric Lelann
2011 Journal of Field Robotics  
During a 15-year joint research program, French Atomic Energy Agency Interactive Robotics Laboratory (CEA LIST) and AREVA have developed several remote operation devices, also called telerobots.  ...  The TAO2000 V2 controller is first detailed, and then two maintenance operations using the industrial robot RX170 are presented: the removal of the nuclear fuel dissolver wheel rollers and the cleanup  ...  zone in certain workstations potentially exposed to contamination or high radiation rate, to ensure safety for difficult tasks and reduce operator fatigue when located within the control zone, and to  ... 
doi:10.1002/rob.20426 fatcat:7zkeh6nx2rb5vgtffpsfuervwu

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

Ozan Tokatli, Pragna Das, Radhika Nath, Luigi Pangione, Alessandro Altobelli, Guy Burroughes, Emil T. Jonasson, Matthew F. Turner, Robert Skilton
2021 Robotics  
To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human  ...  The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling.  ...  While a training course can improve the ability in manipulation tasks [23] and reduce operator fatigue, in some cases an autonomous system could provide direct aid to the operator [24] to control the  ... 
doi:10.3390/robotics10030085 fatcat:agbayva6hne7bfo3z733vanuae

Mixed-Reality-Enhanced Human–Robot Interaction with an Imitation-Based Mapping Approach for Intuitive Teleoperation of a Robotic Arm-Hand System

Yun-Peng Su, Xiao-Qi Chen, Tony Zhou, Christopher Pretty, Geoffrey Chase
2022 Applied Sciences  
The user control space and robot working space are overlaid through the MR subspace, and the local user and a digital twin of the remote robot share the same environment in the MR subspace.  ...  This paper presents an integrated mapping of motion and visualization scheme based on a Mixed Reality (MR) subspace approach for the intuitive and immersive telemanipulation of robotic arm-hand systems  ...  Most subjects preferred the MRS vision/motion mapping scheme condition and commented that the MRS scheme enabled robot control with natural movements and reduced fatigue and stress during the robotic manipulation  ... 
doi:10.3390/app12094740 fatcat:yqg6n5gf2jfqjofoliktjx5ff4

A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Linshuai Zhang, Shuoxin Gu, Shuxiang Guo, Takashi Tamiya
2021 Micromachines  
Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter.  ...  Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase.  ...  Bao et al. proposed a remote-controlled vascular interventional robot based on an electromagnetic clutch to perform the catheter insertion with force feedback [17] .  ... 
doi:10.3390/mi12060640 pmid:34070909 fatcat:ihnmjm2pordg5karyn2n6pjkhu

Dedicated and standard industrial robots used as force-feedback telemaintenance remote devices at the AREVA recycling plant

G. Piolain, F. Geffard, A. Coudray, P. Garrec, J-F. Thro, Y. Perrot
2010 2010 1st International Conference on Applied Robotics for the Power Industry (CARPI 2010)  
CEA LIST and AREVA have been developing remote operations devices, also called telerobotics for 15 years.  ...  This controller has been used to teleoperate dedicated slave arms like the MT200 TAO (an evolution of the conventional wall-transmission mechanical telemanipulator (MSM) [3]) as well as industrial robotic  ...  zone in certain workstations potentially exposed to contamination or high radiation rate ensure safety for difficult tasks and reduce operator fatigue when located within the control zone allow playback  ... 
doi:10.1109/carpi.2010.5624418 fatcat:7ncbwupzqbbkbjbwnva2uitkei
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