Abstract
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.
Highlights
Telerobotics is a powerful tool to combine the benefits of robotic manipulation with human mental abilities and manipulation strategies
For that we developed an approach, which did not need any calibration, because it was only based on the sensor–actor relation: the desired Cartesian goal frame of the robot’s tool center point was expressed only by the respective visual sensory pattern (Brunner et al, 1999)
Space Factory 4.0 aimed at developing a bilateral controller, which allows for teleoperation of the assembly robot by a human operator using an HMI device, providing force feedback with the support of virtual fixtures, which in the control scheme of Figure 3, are elements of the remote model
Summary
Telerobotics is a powerful tool to combine the benefits of robotic manipulation with human mental abilities and manipulation strategies. Model-Augmented Haptic Telemanipulation feedback is crucial for delicate applications and tasks that comprise handling of fragile, dangerous, or expensive parts, or require high precision as it enables the operator to feel guiding structures or sliding on surfaces with limited forces Such situations typically occur for applications in space, biochemical laboratories, or radiation environments. While stability is not an issue in an ideal system without delays and with unlimited communication bandwidth, realworld scenarios, especially those with communication over long distances, pose additional challenges in terms of control To this end, bilateral control approaches have been continuously evolved in parallel to the aforementioned developments, and today enable haptic telemanipulation via communication including time delays of several seconds (Panzirsch et al, 2020a). Publications that provide further details on specific aspects of the respective technology, mission, or use case
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