Telerobotic Research Articles

Innovations, Technologies and Challenges Associated with Transnational Education

Purpose: This study delves into Transnational education, focusing on challenges, technologies, and innovative practices that significantly shaped its landscape from 2014 to June 2024. Design/Methodology/Approach: The study applied the PRISMA framework and bibliographic analysis to synthesise information from 77 articles emphasising the best practices, innovations, technology, and challenges associated with TNE. Findings: The study highlights notable technological tools such as virtual learning environments (VLEs), artificial intelligence (AI), telepresence robots, and other innovations that have transformed how TNE programmes operate effectively. However, the research highlights challenges such as differences in culture and language, quality assurance issues, and the need for more representation from areas in discussions about TNE. Research Limitation: A primary drawback of this review is its temporal scope, as it encompasses only works published from 2014 to mid-2024. Although the study deployed well-defined search methodologies, excluding non-peer-reviewed publications and grey literature may have eliminated significant practical insights. Practical Implication: The results underline the importance of embracing advancements to make higher education accessible while endorsing further exploration into upcoming trends such as AI-powered personalised learning and blockchain innovations. Social Implication: This anticipatory viewpoint is essential for maintaining TNE's relevance and adaptability to the changing requirements of the global education environment. Originality/Value: This is the first systematic review of specific technologies and innovative practices that have been suggested.

REMOTE INTELLIGENT ROBOT MANIPULATOR CONTROL SUBSYSTEM

The issue of expanding the functionality of an intelligent software and hardware subsystem for capturing an object by a robot manipulator was considered. It is shown that the task of expanding the functionality of the subsystem for free-form object capture by a robot manipulator with technical vision based on the operations of building a depth map from the obtained stereo image is insufficiently developed and can be solved by integrating a remote robot cntrol subsystem connected to a local network or the Internet into the robotic complex. The subsystem was developed using a Raspberry Pi microcomputer, a Stereo Pi board, a board for connecting eight Adafruit PCA9865 servos, Raspberry PI cameras, and a camera module. The structure and electrical diagram of the subsystem, a description of the software, and the main code snippet of the web application program are presented. Based on the analysis of the research results, it is established that the proposed remote control subsystem provides an extension of the functionality of the intelligent software and hardware subsystem for capturing an object by a robot manipulator, since in addition to the functions of automatic object capture, due to remote adjustment of the accuracy and manufacturability of object capture, it provides the functions of high-precision positioning of objects relative to each other and especially the effort on the robot manipulator to perform precise operations. The reliability of the object capture is also increased due to the fact that the subsystem allows for the additional involvement of a team of competent users. The proposed system increases the degree of automation, provides the possibility of moderation, collective administration, and user feedback during robot operation.

The technology multiple: The robot avatar substituting for the ill body

In this article, we explore how a very simple telepresence robot avatar becomes a technology multiple when interacting with humans. Based on Mol’s notion of the body multiple, we explore how AV1 – a social telepresence robot avatar designed to act as a substitute in schools for homebound students – becomes a technology multiple. The analysis is based on 105 interviews, including interviews with homebound students and kindergarteners in Norway using AV1 and/or their guardians, interviews with school workers, and focus group interviews with classmates. In the analysis, we explore AV1 as a plastic bust, a toy, a creep, an avatar, and a reverse cyborg. The different perceptions come into being in interaction with human bodies, and the technology thus arguably emerges and is co-constructed with human bodies, creating a technology that is more than technological.

Advancing teleoperation for legged manipulation with wearable motion capture.

The sanctity of human life mandates the replacement of individuals with robotic systems in the execution of hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught with mortal danger, stands at the forefront of this transition. In this study, we explore the potential of robotic telepresence as a safeguard for human operatives, drawing on the robust capabilities demonstrated by legged manipulators in diverse operational contexts. The challenge of autonomy in such precarious domains underscores the advantages of teleoperation-a harmonious blend of human intuition and robotic execution. Herein, we introduce a cost-effective telepresence and teleoperation system employing a legged manipulator, which combines a quadruped robot, an integrated manipulative arm, and RGB-D sensory capabilities. Our innovative approach tackles the intricate challenge of whole-body control for a quadrupedal manipulator. The core of our system is an IMU-based motion capture suit, enabling intuitive teleoperation, augmented by immersive visual telepresence via a VR headset. We have empirically validated our integrated system through rigorous real-world applications, focusing on loco-manipulation tasks that necessitate comprehensive robot control and enhanced visual telepresence for EOD operations.

Investigation of Low-Moral Actions by Malicious Anonymous Operators of Avatar Robots

Avatar robots allow a teleoperator to interact with the people and environment of a remote place. Malicious operators can use this technology to perpetrate malicious or low-moral actions. In this study, we used hazard identification workshops to identify low-moral actions that are possible through the locomotor movement, cameras, and microphones of an avatar robot. We conducted three workshops, each with four potential future users of avatars, to brainstorm possible low-moral actions. As avatars are not yet widespread, we gave participants experience with this technology by having them control both a simulated avatar and a real avatar as a malicious anonymous operator in a variety of situations. They also experienced sharing space with an avatar controlled by a malicious anonymous operator. We categorized the ideas generated from the workshops using affinity diagram analysis and identified four major categories: violate privacy and security, inhibit, annoy, and destroy or hurt. We also identified subcategories for each. In the second half of this study, we discuss all low-moral action subcategories in terms of their detection, mitigation, and prevention by studying literature from autonomous, social, teleoperated, and telepresence robots as well as other fields where relevant.

The integrated smart system to assist elderly at home

Some elders prefer to live independently rather than in a nursing home. However, they need to be assisted because of health and safety reasons. We developed an integrated system consisting of a smart home, a mobile robot, and a wearable device, using message queuing telemetry transport (MQTT) protocol to communicate with each other. The smart home can be monitored and controlled via a mobile application. We use the telepresence robot equipped with a light detection and ranging (LIDAR) sensor to perform simultaneous localization and mapping (SLAM) and autonomous navigation. The wearable device application is used to detect older adults' heart rate, the steps taken, and the burnt calories. We also add pose detection and location estimation using a depth camera powered by an efficient deep-learning algorithm. We also developed an Android application as a dashboard that monitors and controls all system components. Our system can facilitate communication between its various components.

Maintaining health-related quality of life and sense of belonging for pediatric patients with chronic illnesses by using a telepresence robot.

Children with chronic illnesses often miss school, leading to negative outcomes like diminished health-related quality of life (HRQoL) and sense of belonging. Telepresence robots are suggested to keep these children connected to peers and education, yet little research has explored their impact. This study assessed effects of a telepresence system on HRQoL and sense of belonging in 29 patients with chronic illnesses aged 6 to 18 years, who were absent from school. Using a one-group pre-posttest design, participants completed questionnaires before and 6months after receiving the robot. It was expected that HRQoL and sense of belonging would remain stable due to the robot. Wilcoxon tests indicated no decline in HRQoL (Z = -.958, 95% CI [-3.1, 8.3]) or sense of belonging (Z = -1.409, 95% CI [-0.3, 0.8]). Spearman correlations revealed a significant correlation between age and changes in school (rs = 0.621, 95% CI [0.200, 0.848]) and friends' subscales (rs = 0.579, 95% CI [-0.136, 829]), suggesting adolescents benefit particularly from the robot. Consistent with prior research, this study shows no change in psychosocial factors, indicating a stabilizing effect of telepresence robots and contributing to sustainable psychosocial care for pediatric patients.

Brain functional connectivity under teleoperation latency: a fNIRS study.

Long-distance robot teleoperation faces high latencies that pose cognitive challenges to human operators. Latency between command, execution, and feedback in teleoperation can impair performance and affect operators' mental state. The neural underpinnings of these effects are not well understood. This study aims to understand the cognitive impact of latency in teleoperation and the related mitigation methods, using functional Near-Infrared Spectroscopy (fNIRS) to analyze functional connectivity. A human subject experiment (n = 41) of a simulated remote robot manipulation task was performed. Three conditions were tested: no latency, with visual and haptic latency, with visual latency and no haptic latency. fNIRS and performance data were recorded and analyzed. The presence of latency in teleoperation significantly increased functional connectivity within and between prefrontal and motor cortexes. Maintaining visual latency while providing real-time haptic feedback reduced the average functional connectivity in all cortical networks and showed a significantly different connectivity ratio within prefrontal and motor cortical networks. The performance results showed the worst performance in the all-delayed condition and best performance in no latency condition, which echoes the neural activity patterns. The study provides neurological evidence that latency in teleoperation increases cognitive load, anxiety, and challenges in motion planning and control. Real-time haptic feedback, however, positively influences neural pathways related to cognition, decision-making, and sensorimotor processes. This research can inform the design of ergonomic teleoperation systems that mitigate the effects of latency.

Application of 5G Remote Robotic-Assisted Laparoscopy in Urological Surgery: A Small Sample Analysis

ObjectiveTo evaluate the practical application and clinical safety of 5G remote robotics in urological surgery. MethodsWe conducted a comprehensive analysis of 14 cases of 5G remote domestic robot-assisted laparoscopic urological surgeries performed at our center from May 2023 to June 2024. Clinical data and network information were collected, and metrics such as operative time, blood loss, and complication rate were analyzed. We assessed the stability, accuracy, and safety of remote operations, as well as the acceptance and satisfaction of both doctors and patients with this technology. ResultsThe 14 surgeries conducted at our center involved a master-slave distance of 52 kilometers, with an average operative time of 83.3 minutes, an average blood loss of 23 milliliters, a conversion-to-open-surgery rate of 0%, and no complications. During the surgeries, the 5G remote robotic system functioned stably, with a clear field of vision, an average download speed of 216.5 Mbps, an average upload speed of 86.6 Mbps, an average maximum latency of 129.3 ms, an average minimum latency of 20.7 ms, and a packet loss rate of 0%. These results indicate that the system can provide a highly accurate operational view and effective transfer of surgical skills. Both doctors and patients expressed general satisfaction with this technology, recognizing its significant contribution to the safety and effectiveness of the surgery. ConclusionThe 5G remote robot-assisted laparoscopic urological surgeries conducted at our center demonstrate that combining 5G technology with robotic ensures the stability, real-time performance, and safety of remote surgeries.

Telepresence Robots in the Context of Dementia Caregiving: Caregivers’ and Care Recipients’ Perspectives

As a result of a rapidly aging population and the increasing prevalence of dementia among older adults, technological solutions are increasingly being considered to facilitate caregiving. This research investigates the perspectives of 20 caregiving dyads on VGo, a telepresence social robot with features designed to support caregiving. Care recipients (CRs), aged 65 and older, diagnosed with Alzheimer’s disease and related dementias, along with their primary caregivers (CGs), evaluated the robot through an online interview study. The interviews integrated informative videos showcasing VGo’s features and functions. Insights from the interviews revealed diverse expectations, interests, and reservations. The majority of CGs and their CRs perceived the robot’s features as beneficial. In particular, the voice command capability was appreciated as an alternative to using smartphones and as a way to manage home appliances. The community feature, however, did not align well with many participants’ lifestyles, and participants had a number of suggestions to enhance the robot’s notification function. Based on the interview results, the study offers a set of design recommendations for telepresence social robots in home caregiving contexts. This investigation highlights the promise of social robots in caregiving contexts and underscores the need for further improvements to ensure they fit users’ needs.

A review of navigation techniques for telepresence robots

Nowadays the need for digital travel has increased more than ever. This is due to the need for social distancing for medical reasons, economy of travelling, and avoidance of risks involved in physical travelling or for convenience. The telepresence robot therefore serves as a surrogate for the pilot user. Telepresence robots are very resourceful and versatile. Their applications include education; medicine; business; research and ambient assisted living. A major consideration for the effective functioning of telepresence robots is the navigation scheme employed which is central to its overall reliability. Depending on the use to which the robot is to be put, several authors have considered various navigation schemes used to effectively control and navigate in workspace consisting of obstacles and/or order robots. This work aims to review the navigation technique that has been employed by researchers for telepresence robots with a view to identifying the strengths and weaknesses of the various navigation techniques and subsequently coming up with a relatively novel system of navigation that attemts to mitigate the various weaknesses of the previous methodologies for telepresence robot navigation. It has been observed that the general path planning and navigation for the usual autonomous robot is also applicable to the telepresence robot but bearing in mind that the robot is being piloted by humans and it is only when in a condition where it would be cumbersome for the humans that autonomous control system takes over. At such times path planning and navigation using AI methods have proved to be of importance. The path planning algorithms have been shown to be categorized into two viz: global path planning algorithms which are used for known environments and local path planning algorithms for unknown or partially known environments. The algorithms for local path planning are majorly reactive in attribute and are more relevant to telepresence robots. In any particular application, an appropriate blend of a number of these algorithms is employed to achieve desired navigation objectives. Furthermore, in this work, we propose the combination of a line follower robot with an obstacle avoidance algorithm for situations where the expected robot paths are foreknown.

Longitudinal Study of Mobile Telepresence Robots in Older Adults’ Homes: Uses, Social Connection, and Comfort with Technology

Mobile telepresence robots can help reduce loneliness by facilitating people to visit each other and have more social presence than visiting via video or audio calls. However, using new technology can be challenging for many older adults. In this article, we examine how older adults use and want to use mobile telepresence robots, how these robots affect their social connection, and how they can be improved for older adults’ use. We placed a mobile telepresence robot in the home of older adult primary participants ( N = 7; age 60 \(+\) ) for 7 months and facilitated monthly activities between them and a secondary participant ( N = 8; age 18 \(+\) ) of their choice. Participants used the robots as they liked between monthly activities. We collected diary entries and monthly interviews from primary participants and a final interview from secondary participants. Results indicate that older adults found many creative uses for the robots, including conversations, board games, and hide “n” seek. Several participants felt more socially connected with others and a few had improved their comfort with technology because of their use of the robot. They also suggested design recommendations and updates for the robots related to size, mobility, and more, which can help practitioners improve robots for older adults’ use.

Retraction notice: Telepresence robots in libraries: applications and challenges

Retraction notice: Telepresence robots in libraries: applications and challenges

Design and experiment of coconut picking robot with climbing

Due to the height of coconut trees and the high risks associated with manual picking, there is a severe shortage of labor in the coconut picking industry in Hainan. To address this issue, a coconut picking robot was designed and constructed. In this study, the robot was mainly composed of tree climber and 3 degree of freedom (DoF) manipulator. The robot integrated two functions of tree climbing and coconut picking. The 3D model of the picking robot was designed through SOLIDWORKS. Furthermore, the statics and dynamics simulation of the robot were implemented through ANSYS and ADAMS. With STM32 as the core, an embedded remote control system based on CAN bus communication protocol was developed. And a multi-channel remote controller handle was used to control the robot to realize tree climbing and coconut picking. According to the test results, the robot could successfully climb trees up to 13.42 m tall. The average climbing time of coconut picking robot on 10 coconut trees was 152.3 s, and the average picking time was 222.1 s. Specifically, for coconut trees with height ranging from 7.03 m to 11.5 m, inclination ranging from 78° to 90° and diameter ranging from 21.08 cm to 30.20 cm, the average climbing time of the coconut picking robot was 147.7 s. The average climbing time for the remaining trees was 162.9 s. For the above types of trees, the robot could climb to the top of the trees more quickly, demonstrating better climbing performance. This study provides technical support for mechanized coconut picking and will inspire the development of coconut picking robots.

Retraction notice: Application and use of telepresence robots in libraries and information center services: prospect and challenges

Retraction notice: Application and use of telepresence robots in libraries and information center services: prospect and challenges

Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor

The environment in Tokamak fusion reactor is hostile to remote handling (RH) equipment that maintains in-vessel components. Many maintenance tasks include transferring components, pipe cutting, and welding in the vacuum vessel (VV). To fulfill these maintenance works, a 7- degree-of-freedom (DOF) heavy load manipulator and a 3-DOF end-effector are designed and connected together to form a 10-DOF redundant robot. The inverse kinematics for such a high redundancy robot, considering obstacle avoidance in the complex space of VV, is a challenge. To solve this problem, the Jacobian method is adopted, and a method specially designed for obstacle avoidance of redundant robots working in the VV is integrated to simplify algorithm calculation and improve inverse solution efficiency. The algorithm is applied to solve the inverse kinematics of the redundant robot for the maintenance of the divertor plasma facing components (PFC) in VV. The results show that the inverse kinematics of the redundant robot can be solved quickly with high positioning accuracy. The method can also be used for other fusion reactor maintenance robots with some adjustments. The maintenance efficiency of redundant robot can be improved with the method which can be valuable for the whole remote handling process.

Design of Mechatronics Based Virtual Telepresence for Robotic System Using Raspberry Python Interpreter

A telepresence robot is a remote-controlled, wheeled device with a display to enable video streaming which enable the participants to view remote locations, as if they were there. The project consists of a VR headset, with a smartphone in dual screen to experience virtual reality and 4 wheeled robotic vehicles. The movement of the Robot is controlled using a remote controller. The motion of the camera of the robot is controlled by the accelerometer and magnetometer data processed by Arduino and Raspberry Pi. Video streamed is received by the smartphone using the IP address specified by the Raspberry Pi. This robot with a camera is placed in a remote location to capture the environment in visual form using Raspberry Pi (R Pi).The captured visuals are displayed on the user’s virtual reality (VR) headset. An added feature allows the camera to move in the direction of the user’s head movements. This gives the user a real-time experience as if he is present where the robot is located. The robot can also be moved in any direction through an app installed in the user’s smartphone.

3D Visual Grounding-Audio: 3D scene object detection based on audio

3D Visual Grounding (3DVG) is a prevalent multi-modal information fusion task capable of accurately localizing target objects referenced in natural language descriptions within a point cloud scene. Nevertheless, the stringent demands for input and output devices present substantial hurdles for the application and integration of 3DVG in fields like remote robotic control and telemedicine. To address this challenge, we introduce several innovative approaches. Firstly, we have initiated a novel multi-modal task, termed 3D Visual Grounding-Audio (3DVG-Audio), which is based on the fusion of audio and point cloud. To the best of our knowledge, this represents the first instance of an Audio-Point Cloud multi-modal task. 3DVG-Audio achieves precise localization of audio-mentioned objects within the point cloud by utilizing the point cloud in conjunction with the corresponding audio input. Secondly, building upon the ScanRefer, we have developed a novel dataset named 3DVG-AudioSet, specifically designed for the training and evaluation of the 3DVG-Audio method. Finally, we have crafted a tailored loss function to further enhance the performance of 3DVG-Audio and introduced a method named AP-Refer, which serves as a benchmark for the task. Extensive experimental results demonstrate the potential for deep integration of audio and point cloud to tackle complex real-world challenges. AP-Refer has successfully addressed the 3DVG-Audio, circumventing the limitations of conventional 3DVG methods, and exhibits significant application potential.

An Adaptive and Automatic Power Supply Distribution System with Active Landmarks for Autonomous Mobile Robots.

With the development of automation and intelligent technologies, the demand for autonomous mobile robots in the industry has surged to alleviate labor-intensive tasks and mitigate labor shortages. However, conventional industrial mobile robots' route-tracking algorithms typically rely on passive markers, leading to issues such as inflexibility in changing routes and high deployment costs. To address these challenges, this study proposes a novel approach utilizing active landmarks-battery-powered luminous landmarks that enable robots to recognize and adapt to flexible navigation requirements. However, the reliance on batteries necessitates frequent recharging, prompting the development of an automatic power supply system. This system integrates omnidirectional contact electrodes on mobile robots, allowing to recharge active landmarks without precise positional alignment. Despite these advancements, challenges such as the large size of electrodes and non-adaptive battery charging across landmarks persist, affecting system efficiency. To mitigate these issues, this research focuses on miniaturizing active landmarks and optimizing power distribution among landmarks. The experimental results of this study demonstrated the effectiveness of our automatic power supply method and the high accuracy of landmark detection. Our power distribution calculation method can adaptively manage energy distribution, improving the system's persistence by nearly three times. This study aims to enhance the practicality and efficiency of mobile robot remote control systems utilizing active landmarks by simplifying installation processes and extending operational durations with adaptive and automatic power supply distribution.

Sterowanie kobotem za pomocą wirtualnej rzeczywistości dla potrzeb Przemysłu 4.0

Industry 4.0 is undergoing continuous evolution. Management and monitoring systems implemented in the industrial infrastructure are able to collect and process more and more data, then, based on dedicated algorithms, make decisions, and consequently send specific control commands to devices and technological processes. At the same time, there is growing interest in combining devices with other seemingly disparate technologies. An example of creating such coexistence is the integration of sensory solutions with virtual reality. Such activities contribute to the creation of digital twins of devices and processes, which in turn enables remote and in many cases automatic control of physical objects and the course of real processes. In the course of this research, such an approach has been used to develop a solution that allows a robot to be controlled from anywhere and at any time. This work presents a prototype of a solution providing remote control of a cobot arm robot.