Augmented Reality for Haptic Teleoperation of a Robot with an | Data Science by ODS.ai 🦜

Augmented Reality for Haptic Teleoperation of a Robot with an Event-Based Soft Tactile Sensor

This paper presents a new teleoperation approach using an augmented reality-based interface combined with optimized haptic feedback to finely manipulate visually occluded objects.

The dynamic growth of emerging Augmented Reality (AR) interfaces has a high potential interest in robotic telemanipulation of objects under limited visibility conditions. On the user’s horizon, the real-world environment is overlayed by the virtual images of the robot end-effector and the object. To optimize the user experience in teleoperation, the visual augmentation is accompanied by a haptic stimulus. They both transmit the rendered signal of the contact force visually and haptically, respectively. The contact force is measured by an optical event-based tactile sensor (E-BTS) with a soft pad, vibrotactile stimuli are generated by the hand-held device (HHD) and the AR is projected in the head-mounted device (HMD).

Authors demonstrated experimentally their approach on teleoperated robot arm puncturing an occluded non-rigid membrane placed in vertical raw with similar membranes. A comparative study with 10 subjects has been carried out to quantify the impact of AR in a force control task with a human in the control loop. The results of the experiment show a promising potential application in the cable insertion in an industrial assembly task.

Video: YouTube

#AR