Abstract
The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.
Highlights
This paper focuses on the evaluation of haptic feedback accuracy in robotic teleoperation, and whether haptic display can give users accurate feedback information that benefits them in feeling slave interactions with high- fidelity, providing the sole concern of this paper
Hand Trem on Rendering the experimental results,to human hand tremble as input resulted in the fluctuation output force from the haptic device when the tremble spring-damping
The spring-damping model converts the fluctuation output force from theinto haptic device when the springhuman hand trembleofsensed by the haptic device the output force fluctuation exerted the haptic
Summary
We believe that haptic display plays an indispensable role in numerous robotic teleoperations since feedback force is an important supplement to visual display to assist users in manipulating slave robots accurately, safely and effectively [4,5]. Haptic feedback plays an interactive role between the slave manipulator and its located environment to the user at the master side. The determination of feedback force accuracy is one of the basic research works that evaluate the effect and performance of haptic display in haptic based robotic teleoperation. This paper focuses on the evaluation of haptic feedback accuracy in robotic teleoperation, and whether haptic display can give users accurate feedback information that benefits them in feeling slave interactions with high- fidelity, providing the sole concern of this paper
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