Telerobotic Research Articles

Robot remote control using virtual reality headset: studying sense of agency with subjective distance estimates

Mobile robots have many applications in the modern world. The autonomy of robots is increasing, but critical cases like search and rescue missions must involve the possibility of human intervention for ethical reasons and safety. To achieve effective human–robot interaction, the operator needs to have a sense of agency (SoA) over the activities of the robot. One possible way to increase one's SoA in remote control could be the use of VR technology. The remote control situation has some important features, so indicators of SoA need to be reproduced there independently. In our study, participants controlled a mobile robot using either a monitor or a VR-headset as an output device. In both cases, active control was contrasted with passive observation of the robot's movement. In each trial, participants estimated the distance traveled by the robot—a putative implicit indicator of SoA. A significant difference between subjective distance estimates was found in the active and passive conditions with the monitor, but not in the active and passive conditions with VR. The effect obtained in the monitor conditions suggests that distance estimates can be used as an implicit indicator of SoA in robot remote control. We believe that the lack of difference between the active and passive conditions in VR was caused by motion sickness due to a mismatch of visual and vestibular sensory cues, leading to a weakened SoA.

Clinical efficacy and performance evaluation of a bendable remote robot system for a bone tumour surgery: A pilot animal study.

Traditional open surgery for bone tumours sometimes has as a consequence an excessive removal of healthy bone tissue because of the limitations of rigid surgical instruments, increasing infection risk and recovery time. We propose a remote robot with a 4.5-mm diameter bendable end-effector, offering four degrees of freedom for accessing the inside of the bone and performing tumour debridement. The preclinical studies evaluated the effectiveness, clinical scenario, and usability across 12 total surgeries-six phantom surgeries and six bovine bone surgeries. Evaluation criteria included skin incision size, bone window size, surgical time, removal rate, and conversion to open surgery. Preclinical studies demonstrated that the robotic approach requires significantly smaller incision size and procedure times than traditional open curettage. This study validated the performance of the proposed system by assessing its preclinical effectiveness and optimising surgical methods using human phantom and bovine bone tumour models.

A critical reflection on using the Patient Engagement In Research Scale (PEIRS) to evaluate patient and family partners' engagement in dementia research.

Research involvement of people with lived experiences is increasing. Few tools are designed to evaluate their engagement in research. The Patient Engagement In Research Scale (PEIRS) is one of the few validated tools. Our team employed the PEIRS with patient and family partners with lived experiences of dementia every 6 months in a two-year telepresence robot project. This reflection paper reports our self-study on key learnings and proposes practical tips on using the PEIRS to evaluate patient and family partners' engagement in dementia research. It is the first to document a case using the PEIRS multiple times in a dementia research project. Guided by Rolfe et al.'s reflective model, we conducted three team reflective sessions to examine the team's experiences using the PEIRS to improve and evaluate patient and family partners' engagement in the research. We also reviewed our meeting notes and fieldnotes documented in the research journal. A reflexive thematic analysis was performed. The team identified three key learnings: the values of using the PEIRS survey, the adaptations, and the factors influencing its implementation as an evaluation tool. Using the PEIRS provided significant benefits to the project, although some patient and family partners felt it was burdensome. The evaluation tool was enhanced with emojis and comment boxes based on suggestions from patient partners. The emojis introduced an element of fun, while the comment boxes allowed for personalized responses. Several factors influenced the PEIRS tool's effectiveness: the interviewer's identity, the confidentiality of responses and follow-ups, the timing and frequency of using the tool, and the presentation of the evaluations. These learnings led to the development of six practical tips,-"ENGAGE": Enjoyable and fun process, Never impose, Get prepared early, Adapt to the team's needs, Give people options, and Engage and reflect. With the emerging trend of including people with lived experiences in dementia research, there is a need for ongoing assessment of engagement from both patient and family partners and the research team strategies. Future research can further explore survey logistics, co-development of evaluation tools, and the use of tools with people living with dementia.

Temporal Progression of Four Older Adults through Technology Acceptance Phases for a Mobile Telepresence Robot in Domestic Environments

Loneliness is increasingly common, especially among older adults. Technology like mobile telepresence robots can help people feel less lonely. However, such technology has challenges, and even if people use it in the short term, they may not accept it in the long term. Prior work shows that it can take up to six months for people to fully accept technology. This study focuses on exploring the nuances and fluidity of acceptance phases. This paper reports a case study of four older adult participants living with a mobile telepresence robot for seven months. In monthly interviews, we explore their progress through the acceptance phases. Results reveal the complexity and fluidity of the acceptance phases. We discuss what this means for technology acceptance. In this paper, we also make coding guidelines for interviews on acceptance phases more concrete. We take early steps in moving toward a more standard interview and coding method to improve our understanding of acceptance phases and how to help potential users progress through them.

Articulation work for supporting the values of students attending class via telepresence robots

Robotic Telepresence (TR) is a promising medium for providing classroom access for students who are unable to attend classes in-person. While existing research has focused on TR’s usability, adoption, and embodiment, there is a need for research focusing on how TR supports key user values — like identity, privacy, and courtesy — in educational contexts. To bridge this gap, we engaged 22 university students in a field study using Beam telepresence robots, which enabled us to discern the key manifestations of these three values in classroom human–robot interactions. We also identified articulation work improvised by remote students to maintain these values. Based on our findings, we propose recommendations for use that can support these values and offer design recommendations for future telepresence robots. Our insights offer valuable guidance to educational institutions intending to integrate telepresence robots, as well as to their designers.

Navigating the Cyborg Classroom: Telepresence Robots, Accessibility Challenges, and Inclusivity in the Classroom

Telepresence robots, designed to bridge physical distances, have unique capabilities and inherent limitations when deployed in classroom environments. This study examines these aspects, focusing on how telepresence robots facilitate or hinder classroom accessibility and inclusivity. Based on field study results from participatory observations, surveys and interviews with 22 participants, we present and catalogue the operational capabilities of telepresence robots, such as mobility and interaction potential, alongside their limitations in areas like sensory perception and social presence. Our findings reveal a nuanced landscape where telepresence robots act as both enablers and barriers in the classroom. This duality raises the question of whether these robots can be considered “disabled” in certain contexts and how this perceived disability impacts remote students’ inclusion in classroom dynamics. Finally, we present use recommendations to improve classroom experience and telepresence design.

Virtual robotic telepresence early childhood mental health consultation to childcare centers in the aftermath of COVID-19: training approaches and perceived acceptability and usefulness.

Childcare center closures during COVID-19 impacted education for approximately 40 million children nationwide. Unfortunately, COVID-19 restrictions significantly limited the extent that outside personnel could provide in-person support to educators, resulting in the need for innovative approaches to meet childcare centers' needs. A virtual robotic telepresence approach was applied to early childhood consultation models to promote child resilience while mitigating COVID-19 risks. The goal of this study was to examine how training influenced consultants' and childcare staff uptake of the virtual robotic telepresence consultation approach and their acceptance of this technology. Ten early childhood consultants received multimedia/simulation training and weekly communities of practice related to virtual telepresence robotic consultation. Telepresence robotic consultation equipment was deployed to 16 childcare centers in a diverse multilingual metropolitan area as a part of a larger randomized controlled trial. Consultants trained childcare staff (14 center directors and 58 teachers) on how to receive virtual telepresence robotic consultation. Demographic information and measures of technology acceptability and uptake were collected from childcare staff and consultants. A mixed methods approach was used including multilevel modeling and focus groups to examine consultation uptake, acceptability, barriers, and facilitators of virtual telepresence robotic consultation implementation. Consultants and childcare staff generally perceived the virtual telepresence consultation approach to be useful and easy to use. Consultant perceptions of the acceptability of technology did not change over time. Childcare staff, center, and consultant factors impacted the uptake of the virtual robotic telepresence consultation approach and childcare staff acceptance of the technology. Focus groups revealed that consultants believed that additional hands-on training with childcare staff would have benefited implementation and expressed a desire for a hybrid approach for consultation. Perceptions of telepresence robotic consultation acceptability are discussed, including future recommendations for training.

Validation activities at ENEA Brasimone in support of the IFMIF-DONES design

IFMIF-DONES is a powerful neutron source which is being designed with the main purpose of qualifying structural materials (EUROFER being the first candidate) to be used in DEMO and fusion power plants envisaged after it. This source relies on one high current (125 mA) deuterons beam accelerated to 40 MeV which impacts on a liquid lithium target to produce an intense neutron flux through Li(d,n) stripping reactions able to simulate the nuclear responses expected on the first wall of the reactor. The engineering design of IFMIF-DONES is presently being carried out mainly in the framework of the EUROfusion Work Package Early Neutron Source (WPENS). Since 2021, a new phase has started with the launch of the FP9 WPENS workplan whose objective is to continue advancing the engineering design of the facility, putting special effort on the experimental validation of those aspects which still need to be qualified to demonstrate the fulfillment of functional and safety requirements. The ENEA Brasimone Research Centre has been and still is strongly committed in several validation tasks concerned in particular with the lithium systems design and the Remote Handling (RH) maintenance.In this paper, an overview of the most relevant validation activities carried out in recent years or still in progress or planned at the ENEA Brasimone Research Centre in both of the aforementioned areas is presented, including the erosion/corrosion tests in the Lifus 6 loop; the nitrogen-gettering materials qualification in the ANGEL facility; and the RH and prototypes testing in the DRP laboratory for the validation of the High Flux Test Module electric connectors and the pre-heating of the Target Assembly.

An Intelligent Human–Machine Interface Architecture for Long-Term Remote Robot Handling in Fusion Reactor Environments

This paper addresses the intricate challenge posed by remote handling (RH) operations in facilities with operational lifespans surpassing 30 years. The extended RH task horizon necessitates a forward-looking strategy to accommodate the continuous evolution of RH equipment. Confronted with diverse and evolving hardware interfaces, a critical requirement emerges for a flexible and adaptive software architecture based on changing situations and past experiences. The paper explores the inherent challenges associated with sustaining and upgrading RH equipment within an extended operational context. In response to this challenge, a groundbreaking, flexible, and maintainable human–machine interface (HMI) architecture named MAMIC is designed, guaranteeing seamless integration with a diverse range of RH equipment developed over the years. Embracing a modular and extensible design, the MAMIC architecture facilitates the effortless incorporation of new equipment without compromising system integrity. Moreover, by adopting this approach, nuclear facilities can proactively steer the evolution of RH equipment, guaranteeing sustained performance and compliance throughout the extended operational lifecycle. The proposed adaptive architecture provides a scalable and future-proof solution, addressing the dynamic landscape of remote handling technology for decades.

Research on accurate morphology predictive control of CFETR multi-purpose overload robot

The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 × 108 Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings.

Design of Poison Lawn Springer Robot Using Proportional Integral Derivative Algorithm With Remote Control System

Grass is one of the plants that live on God's earth, even grass is also written in the Koran. Grass is currently also a pest for plants, so sometimes to minimize grass growth, many farmers or people eradicate grass by cutting it and even poisoning the grass. Each method used has its own risk of work accidents, such as using grass poison can experience insecticide poisoning. To anticipate this, a remote control robot was designed to sprinkle automatic grass poison using the PID (Proportional Integral Derivativ) method. The test results using measurements using a multimeter or multitester show that the robot works with a voltage of 11.1 VDC with a 5-12VDC motor with a speed of 3000 rpm and uses a motor gearbox so that it turns into a torque load of 5 Kg. Meanwhile, for control using a bluetooth module with the HC-05 interface type connected to the Android bluetooth system, the maximum distance transmission system is 0 - 10 m. For watering grass, it has 2 scales of watering from the height of the grass, grass with a height of 10 - 15 centimeters using PID 1, which is watered with a voltage of 11.1 VDC delay (t) 1.5s. Grass with a height reaching 20 - 30 using PID 2, watered with a voltage of 14.8 VDC delay (t) 3s. All lawn watering uses a 16 VDC pump motor with 1500 rpm. After the lawn watering system is implemented using the PID method, the P value = 14.56. Value I = 22.08 and value D = 15.5. The conclusion from the design of a grass poison sprinkler robot, namely the robot is able to read the type of tall grass from the ultrasonic sensor, and the robot can be controlled remotely because it uses the HC-05 interface module.

Advances in the Application of AI Robots in Critical Care: Scoping Review.

In recent epochs, the field of critical medicine has experienced significant advancements due to the integration of artificial intelligence (AI). Specifically, AI robots have evolved from theoretical concepts to being actively implemented in clinical trials and applications. The intensive care unit (ICU), known for its reliance on a vast amount of medical information, presents a promising avenue for the deployment of robotic AI, anticipated to bring substantial improvements to patient care. This review aims to comprehensively summarize the current state of AI robots in the field of critical care by searching for previous studies, developments, and applications of AI robots related to ICU wards. In addition, it seeks to address the ethical challenges arising from their use, including concerns related to safety, patient privacy, responsibility delineation, and cost-benefit analysis. Following the scoping review framework proposed by Arksey and O'Malley and the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) guidelines, we conducted a scoping review to delineate the breadth of research in this field of AI robots in ICU and reported the findings. The literature search was carried out on May 1, 2023, across 3 databases: PubMed, Embase, and the IEEE Xplore Digital Library. Eligible publications were initially screened based on their titles and abstracts. Publications that passed the preliminary screening underwent a comprehensive review. Various research characteristics were extracted, summarized, and analyzed from the final publications. Of the 5908 publications screened, 77 (1.3%) underwent a full review. These studies collectively spanned 21 ICU robotics projects, encompassing their system development and testing, clinical trials, and approval processes. Upon an expert-reviewed classification framework, these were categorized into 5 main types: therapeutic assistance robots, nursing assistance robots, rehabilitation assistance robots, telepresence robots, and logistics and disinfection robots. Most of these are already widely deployed and commercialized in ICUs, although a select few remain under testing. All robotic systems and tools are engineered to deliver more personalized, convenient, and intelligent medical services to patients in the ICU, concurrently aiming to reduce the substantial workload on ICU medical staff and promote therapeutic and care procedures. This review further explored the prevailing challenges, particularly focusing on ethical and safety concerns, proposing viable solutions or methodologies, and illustrating the prospective capabilities and potential of AI-driven robotic technologies in the ICU environment. Ultimately, we foresee a pivotal role for robots in a future scenario of a fully automated continuum from admission to discharge within the ICU. This review highlights the potential of AI robots to transform ICU care by improving patient treatment, support, and rehabilitation processes. However, it also recognizes the ethical complexities and operational challenges that come with their implementation, offering possible solutions for future development and optimization.

Unconstrained lightweight control interface for robot-assisted minimally invasive surgery using MediaPipe framework and head-mounted display

Robotic surgery is preferred over open or laparoscopic surgeries due to its intuitiveness and convenience. However, prolonged use of surgical robots can cause neck pain and joint fatigue in wrist and fingers. Also, input systems are bulky and difficult to maintain. To resolve these issues, we propose a novel input module based on real-time 3D hand tracking driven by RGB images and MediaPipe framework to control surgical robots such as patient side manipulator (PSM) and endoscopic camera manipulator (ECM) of da Vinci research kit. In this paper, we explore the mathematical basis of the proposed 3D hand tracking module and provide a proof-of-concept through user experience (UX) studies conducted in a virtual environment. End-to-end latencies for controlling PSM and ECM were 170 ± 10 ms and 270 ± 10 ms, respectively. Of fifteen novice participants recruited for the UX study, thirteen managed to reach a qualifiable level of proficiency after 50 min of practice and fatigue of hand and wrist were imperceivable. Therefore, we concluded that we have successfully developed a robust 3D hand tracking module for surgical robot control and in the future, it would hopefully reduce hardware cost and volume as well as resolve ergonomic problems. Furthermore, RGB image driven 3D hand tracking module developed in our study can be widely applicable to diverse fields such as extended reality (XR) development and remote robot control. In addition, we provide a new standard for evaluating novel input modalities of XR environments from a UX perspective.

“I have the Feeling that the Person is Here”: Older Adults’ Attitudes, Usage Intentions, and Requirements for a Telepresence Robot

The social integration of older adults has been shown to be vital for successful aging. Innovative communication technologies, such as telepresence robots, can protect older adults against loneliness and social isolation by helping them stay connected to their social networks. This human-centered qualitative study aims to identify the attitudes (research question 1, RQ1), intentions to use (RQ2), and requirements (RQ3) of older adults for robot-mediated communication (RMC) via a telepresence robot. Semi-structured individual interviews were conducted with N = 30 older adults from Germany, who evaluated storyboard illustrations depicting a fictional RMC scenario between a grandparent and their adult grandchild. The study identified 3 attitude groups towards telepresence robots among participants: positive, negative, and conflicting attitudes (RQ1). Furthermore, based on their intentions of use, participants were classified into reluctant future users (n = 12), future non-users (n = 10), and enthusiastic future users (n = 8) (RQ2). Finally, the study identified technological, social, and age-related requirements of older adults for a telepresence robot (RQ3). Practical recommendations are provided based on these findings, such as leveraging older adults’ current technology-related skills, adapting technologies to older adults’ lifestyles and social networks, and designing technologies that contribute to older adults aging in place. This study contributes to the human-centered design of telepresence robots that support the social integration of older adults.

The electro-hydraulic mix-drive cantilever arm platform (EMCAP) for general technology research in remote handling for Tokamak

The EMCAP (electro-hydraulic mix-drive cantilever arm platform) is built to study general functions required by the maintenance of tokamak and cultivate remote handling engineers. This paper aims to give an overview of this robotic platform for general technology research. The platform consists of radiation tolerant materials and joints, a long cantilever arm with redundant degrees of freedom, a rapid control prototype, a vacuum vessel model, a bolts driving tool, cutting tools, and a virtual reality software. The design of this platform is partly presented: 10 degrees of freedom are demonstrated; the length of articulated arm reaches 3.15 m; the load capacity of terminal is 10 kg; the radiation tolerance of a test arm with electro-hydraulic joints reaches 4MGy in gamma ray. The motion planning is tested in a vacuum vessel model. The primary process is also studied by the end effectors for functional researches. Screwing and unscrewing bolts are successfully realized without connecting to cantilever arm, but pipe cutting from outside space still faces some force issues, and the laser cutting tool for inner pipe working space brings about waste contamination problems, which requires improvement. This remote handling platform is the first visible success for SWIP in developing unmanned maintenance for the fusion devices.

The Potential of Telepresence in Libraries: Students’ Perspectives

Abstract The paper presents a study of library and information science students’ perceptions and experiences related to the use of telepresence robots (TPRs) in libraries, with a specific focus on students assuming the role of library consultants. The study explores the innovative application of TPRs, such as Double, Ohmni and Temi, within library settings. The findings of the research reveal a positive perception of TPRs, emphasising their potential for fostering innovation, increasing engagement, providing flexibility and overcoming geographical constraints. The study also identifies distinct advantages of TPRs, including remote accessibility, enhanced communication, flexibility, a personalised user experience and cost savings. However, concurrent challenges, such as limitations in nonverbal communication, pointing accuracy, connectivity issues, space requirements, costs, safety, security concerns and varying levels of user acceptance emerge as crucial areas for refinement. While the results may not be generalisable due to the limited sample size, the study underscores the transformative potential of TPRs in libraries and the necessity of addressing these challenges to optimise their application. Further research, technological advancements and user feedback can help refine and optimise the use of TPRs in libraries to provide innovative and accessible assistance.

Virtual and Remote Robotic Laboratory

The Virtual Remote Robotic Laboratory (VRRL) represents a paradigm shift in scientific experimentation, offering researchers unprecedented access to remote laboratory facilities and robotic systems. This paper explores the design, implementation, and benefits of VRRL systems in enhancing access and collaboration in scientific research. VRRL leverages cloud computing, IoT technologies, and advanced user interfaces to enable researchers to remotely control and interact with robotic systems and laboratory equipment from anywhere with an internet connection. Through intuitive user interfaces, researchers can seamlessly navigate virtual environments, manipulate robots, monitor experiments in real- time, and analyze data, all without physical presence in the laboratory. Key features of VRRL include robust security protocols to protect sensitive data, flexible experimentation capabilities to accommodate diverse research needs, and collaboration tools to facilitate knowledge sharing and teamwork among researchers worldwide. By breaking geographical barriers and providing on-demand access to laboratory resources, VRRL empowers researchers to conduct experiments more efficiently, accelerate scientific discovery, and foster interdisciplinary collaboration

Mapping for stable bilateral teleoperation of manipulators considering time delays

Teleoperation of manipulators has allowed extending the human skills to several areas, where the commands generated by a human operator on the leader robot are followed by a remote robot. For this purpose, position-position tracking requires a mapping given the mismatch between robot workspaces. This paper compares a pair of functions for mapping the haptic device commands to handle a remote robot, considering non-identical workspaces and a classic P+d control scheme. As part of the theoretical analysis, a Lyapunov-Krasovskii-based stability analysis is developed in steps, allowing us for determining the boundedness of velocities and coordination errors. Subsequently, the performance of the teleoperation system is compared using two mapping functions. To achieve a fair comparison of results, a test protocol is developed, where different levels of haptic device damping, time delays, and workspace scales are used to evaluate the time to complete the task and the average coordination errors. Based on the results, the mapping function influences the calculation of force feedback, stability of the system, and performance metrics. During a pick-and-place task, a reduction in coordination error is observed when the linear function is chosen, while the time to complete the task is lower when a non-linear function is considered.

Irradiation Tests of the Sleeve for the Telescopic Arm of the ITER Blanket Remote Handling System

Irradiation Tests of the Sleeve for the Telescopic Arm of the ITER Blanket Remote Handling System

TeleAware Robot: Designing Awareness-augmented Telepresence Robot for Remote Collaborative Locomotion

Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with their partners via live video feed, this does not provide enough awareness of the environment and their remote partner's activities. In this paper, we introduce an awareness framework for collaborative locomotion in scenarios of onsite and remote users visiting a place together. From an observational study of small groups of people visiting exhibitions, we derived four design goals for enhancing the environmental and social awareness between social partners, and developed a set of awareness-enhancing techniques to add to a standard telepresence robot - named TeleAware robot. Through a controlled experiment simulating a guided exhibition visiting task, TeleAware robot showed the ability to lower the workload, facilitate closer social proximity, and improve mutual awareness and social presence compared with the standard one. We discuss the impact of mobility and roles of local and remote users, and provide insights for the future design of awareness-enhancing telepresence robot systems that facilitate collaborative locomotion.