Device For Teleoperation Research Articles

TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-Finger Robotic Hands

TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-Finger Robotic Hands

Multiplatform of SVC Device for User Experience Mobile Robot Teleoperation

The industrial revolution 4.0 and the rapid advancement of technology during pandemic era has made significant progress in robot industry. There are three types of robots based on the level of independent control such as autonomous mobile robots, semi-autonomous mobile robots, and controller mobile robots. Semi-autonomous mobile robot and Controlled mobile still require human intervention in carrying out the tasks. In this study, teleoperation on mobile robots is displayed on various platforms such as Smartphone, Virtual reality headset as a virtual reality platform, and Computer (SVC) device. A camera is used as a visual sensor that dispatches the information of the surroundings to each platform. The controller used for the teleoperation varies depending on the platforms. The computer platform uses the arrow key on the keyboard. The smartphone platform uses touchscreen. Virtual reality uses Oculus Touch that has been integrated with Oculus Quest 2. ROS# as a robot API framework with Unity engine is used for the communication process between the robot and each platform. Teleoperation Experiments on SVC devices refer to four parameters including task completion rates, task time, satisfaction, and error counts. all these parameters will be combined into a single usability metric (SUM). The SUM results from SVC devices show 54.9% on Smartphones, 79.5% on VR devices, and 90.4% on Computers.

Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

Human-centered design of a wearable kinesthetic haptic device for surgical teleoperation

CombX: Design and experimental characterizations of a haptic device for surgical teleoperation.

Haptic devices with active translation and orientation outputs are highly preferred in surgical teleoperation. However, commercial products are expensive, while state-of-the-art research prototypes are difficult to reproduce outside the original laboratories. This paper presents the design and experimental characterizations of two styluses for the CombX, a haptic device with both force and torque outputs constructed from two TouchX haptic devices, which have only force outputs at their styluses. The arrangement was optimized to improve the specifications. Additional functions for surgical teleoperation were also integrated. The CombX has a translation workspace larger than 160×160×160mm3 . After calibration, it can provide force outputs of up to 16.32N and torque outputs of up to 316mNm. The CombX has also been successfully used to teleoperate a continuum surgical manipulator for two surgical tasks. The results show that the CombX is a viable option for surgical teleoperation.

"A Chance to Try": Exploring the Clinical Utility of Shared-Control Teleoperation for Powered Wheelchair Assessment and Training.

Powered wheelchairs provide independence for people with mobility impairments; however, current training practices may not meet the needs of those with cognitive impairments. Shared-control teleoperation may have utility in a clinical setting when developing training suited to this population. To explore the clinical utility of a shared-control teleoperation device for powered wheelchair assessment and training. In this qualitative study, we used two sequential semistructured interviews conducted a minimum of 2 wk apart. Thematic analyses were used with member checking, reflexive journaling, and triangulation of researchers to establish trustworthiness of the data. Rehabilitation center and residential care and community settings. Using purposive sampling, we recruited occupational therapists and physical therapists who were mostly female and who had a range of practice experience. Fifteen participants were interviewed, and two primary themes were identified: (1) "A big enabler" described how shared control provides opportunities to train people who may otherwise be denied powered mobility, and (2) "changing the learner experience" described how shared control may promote success in skill development through an alternative learning experience. Shared-control technology may have the potential to broaden the scope of therapeutic intervention by reducing risk to the driver and others in the environment and by facilitating alternative training approaches. Technological advances that allow more control over a powered wheelchair by a clinician, known as shared control, may provide learning opportunities for people who are otherwise denied access to powered mobility. Shared control may also allow the use of new instructional techniques, increase safety in the training process, and reduce anxiety associated with learning.

Design and Modeling of a Three-Degree-of-Freedom Articulating Robotic Microsurgical Forceps for Trans-Oral Laser Microsurgery

Trans-oral laser microsurgery (TLM) is a surgical procedure for removing malignancies (e.g., cysts, polyps, tumors) of the laryngeal region through laser ablation. Intraoperative microsurgical forceps (i.e., microforceps) are used for tissue manipulation. The microforceps are rigid, single degree-of-freedom (DOF) devices (open–close) with precurved jaws to access different parts of the curved cylindrical laryngeal region. These microforceps are manually handled and are subject to hand tremors, poor reachability, and nonergonomic use, resulting in poor efficacy and efficiency in the surgery. A novel 3DOF motorized microforceps device is presented here, integrated with a 6DOF serial robotic manipulator. The device, referred to as RMF-3, offers three motorized DOFs: (i) open–close forceps jaw; (ii) tool rotation; and (iii) tool-tip articulation. It is designed to be compliant with TLM spatial constraints. The manual handling is replaced by tele-operation device, the omega.7. The design of the RMF-3 is characterized through theoretical and experimental analysis. The device shows a maximum articulation of 38 deg and tool rotation of 100 deg. Its performance is further evaluated through user trials using the ring-in-loop setup. The user trials demonstrate benefits of the 3DOF workspace of the device along with its teleoperation control. RMF-3 offers an improved workspace and reachability within the laryngeal region. Surgeons, in their preliminary evaluation of the device, appreciated the ability to articulate the tip, along with rotation, for hard-to-reach parts of the surgical site. RMF-3 offers an ergonomic robotic teleoperation control interface which overcomes hand tremors and extreme wrist excursion which leads to surgeon pain and discomfort.

A new impedance force control of a haptic teleoperation system for improved transparency

In this study, a new impedance force control model of a haptic device for teleoperation is developed and analyzed. A new contact force model for the haptic device and the human hand is provided. Movements of the human hand give additional force disturbances to the force control system. Disturbance force model by haptic dynamics and hand movements is fully analyzed and included in the control system design. An adaptive control scheme is proposed to improve system transparency by achieving good force tracking performance, while simultaneously compensating human hand disturbances and sensor noises. A separate reference model for every DOF is proposed to satisfy tracking performances. Adaptive control gains cover force tracking performance and compensates for human hand disturbances while providing robustness to sensor noises.

Design and Control of a Robotic Platform for Dexterous Minimally Invasive Surgical Applications

In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shape-memory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.

Design and Performance Assessment of 2-DOF Teleoperation Device with Force Telepresence

Teleoperation device is a man-machine interface of robot master-slave teleoperation system which is important for the operator to perceive the robots’ working condition and control them. Its performance will directly influence the work efficiency, accuracy and mechanical operation of the teleoperation system. Taking the self-designed 2-DOF teleoperation device with force telepresence as the research object, analyze its key technology from the structure pattern, operating performance and other aspects, which can realize the accurate position control and force telepresence of the teleoperation system, providing a certain reference for the design.

小型ロボットを操作対象とした操縦桿へのバイラテラル制御による力覚提示機能の実装

We develop a control device for teleoperation and a small robot for social infrastructure inspection. The control device is implemented force display function with force projection type bilateral control. For force projection type bilateral control, the robot is controlled by torque control method. The robot's arm cannot be controlled with torque control method in the small robot using position controlled servo motors. In this paper, a control device for operating the small robot which cannot be controlled by torque control method is implemented force display function with force projection type bilateral control. First, we explain a method which removes the drift of a force sensor without using a temperature sensor. A usefulness of the method is validated by experiment. Then, we suggest a method which implements force display function in the control device.

An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization

Rehabilitation of the hands is critical for the restoration of independence in activities of daily living for individuals exhibiting disabilities of the upper extremities. There is initial evidence that robotic devices with force-control-based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this work, we present a novel index finger exoskeleton with Bowden-cable-based series elastic actuation allowing for bidirectional torque control of the device with high backdrivability and low reflected inertia. We present exoskeleton and finger joint torque controllers along with an optimization-based offline parameter estimator. Finally, we carry out tests with the developed prototype to characterize its kinematics, dynamics, and controller performance. Results show that the device preserves the characteristics of natural motion of finger and can be controlled to achieve both exoskeleton and finger joint torque control. Finally, dynamic transparency tests show that the device can be controlled to offer minimal resistance to finger motion. Beyond the present application of the device as a hand rehabilitation exoskeleton, it has the potential to be used as a haptic device for teleoperation.

A New 6-DOF Haptic Device for Teleoperation of 6-DOF Serial Robots

A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.

Two-Fingered Haptic Device for Robot Hand Teleoperation

A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

UPPER LIMB POWERED EXOSKELETON

An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.

Upper-Limb Powered Exoskeleton Design

An exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. A pilot database defining the kinematics and dynamics of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, 7-DOF, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. The database was compiled from 19 arm activities of daily living. The cable-actuated dexterous exoskeleton for neurorehabilitation (CADEN)-7 offers remarkable opportunities as a versatile human-machine interface and as a new generation of assistive technology. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and backdrivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Potential applications of the exoskeleton as a wearable robot include: 1) a therapeutic and diagnostics device for physiotherapy, 2) an assistive (orthotic) device for human power amplifications, 3) a haptic device in virtual reality simulation, and 4) a master device for teleoperation.

A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

The WiRo-6.3 is a six-degrees of freedom (six-DOF) robotic parallel structure actuated by nine wires, whose characteristics have been thoroughly analyzed in previous papers in reference. It is thought to be a master device for teleoperation; thus, it is moved by an operator through a handle and can convey a force reflection on the operator's hand. A completely new method for studying the workspace of this device, and of virtually any nine-wire parallel structure actuated by wire is presented and discussed, and its results are given in a graphical form.

Remote Assistance Method for Advanced Teleoperation Using an Intervention Tool

This paper describes a novel bilateral master control device for advanced teleoperation and discusses man-machine interaction method using the instruction device. The intervention tool is a 1-DOF bilateral master-slave dial designed to support remote execution of tasks in advanced teleoperation systems. Two kinds of intervention methods are proposed and have been implemented: predictive assistance and interruptive assistance. A teleoperation system integrating the intervention tool and the direct-drive manipulator ETA-3 has been developed. The system provides the operator the ability of real-time remote assistance of manipulator movement for error avoidance and recovery. A diaphragm exchanging task has been completed successfully using the assistance technique. The system configuration and experimental results are also described.

動作支援マスタを用いた遠隔作業のための操作介入方式

This paper describes a novel bilateral master control device for advanced teleoperation and discusses man-machine interaction method using the instruction device. The intervention tool is a 1-DOF bilateral master-slave dial designed to support remote execution of tasks in advanced teleoperation systems. Two kinds of intervention methods are proposed and have been implemented: predictive assistance and interruptive assistance. A teleoperation system integrating the intervention tool and the direct-drive manipulator ETA-3 has been developed. The system provides the operator the ability of real-time remote assistance of manipulator movement for error avoidance and recovery. A diaphragm exchanging task has been completed successfully using the assistance technique. The system configuration and experimental results are also described.

A Runtime Monitoring System for Hybrid Manual/Autonomous Teleoperation

This paper describes a hierarchical design and implementation of a runtime monitoring system for hybrid manual/autonomous teleoperation and a novel bilateral master control device for teleoperation. Teleoperation tasks are time-consuming and impose heavy loads on human operators in hostile and unstructured environments. In order to realize efficient task execution and to reduce the burden on operators, we propose here a hybrid manual/autonomous approach, with implementation of a teleoperation system based on distributed hierarchical control architecture. A one DOF bilateral master device has been developed as a compact master system with quick response and precise position/force controllability. Using this system, general master-slave operations are performed. Through experimentation, it was confirmed that the hierarchical structure of the runtime monitoring system easily supports hybrid manual/autonomous teleoperation, and that the hybrid approach facilitates the tele-execution of complex tasks by combining with the master device.