Abstract
Robust manipulation with a dexterous robot hand is a grand challenge of robotics. Impressive levels of dexterity can be achieved through teleoperation. However, teleoperation devices such as a glove or force reflecting master-slave system can be expensive and can tie the robot down to a restricted workspace. We observe that inexpensive and widely available multi-touch interfaces can achieve excellent performance for a large range of telemanipulation tasks, making dexterous robot telemanipulation broadly accessible. Our key insight is that dexterous grasping and manipulation interactions frequently focus on precise control of the fingertips in a plane. Following this observation, our novel multi-touch interface focuses on reliable replication of planar fingertip trajectories, making previously difficult actions such as grasping, dragging, reorienting, rolling, and smoothing as intuitive as miming the action on a multi-touch surface. We demonstrate and evaluate these and other interactions using an iPad interface to a Shadow Hand mounted on a Motoman SDA10 robot.
Highlights
Dexterous manipulation is one of the grand challenges of robotics
The most impressive examples of robotic manipulation have been demonstrated through remote operation, typically using a glove input device [1][2][3][4] or force feedback master-slave system [5][6][7]
In contrast with joysticks and other traditional interfaces, multi-touch systems allow simultaneous control of all fingers of the robot hand, allowing a variety of dexterous manipulation actions to be performed through direct user interaction
Summary
Dexterous manipulation is one of the grand challenges of robotics. Precision, adaptability, and robustness are required for robots to operate successfully within natural or hazardous environments or in workspaces designed for people, such as the home or office. The most impressive examples of robotic manipulation have been demonstrated through remote operation, typically using a glove input device [1][2][3][4] or force feedback master-slave system [5][6][7]. These interface devices are not without difficulties. Reliable input device would open up many possibilities It would allow rapid and precise completion of challenging teleoperation tasks. Telemanipulation with the real robot appeared more intuitive and satisfying than when using a simulator, perhaps because of our powerful sense of 3D space and ability to precisely gauge force and contact in the physical world
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