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Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks

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Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks

dc.contributor.author	Girbés, Vicent
dc.contributor.author	Schettino, Vinicius
dc.contributor.author	Demiris, Yiannis
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2021-05-28T12:55:55Z
dc.date.available	2022-06-23T04:45:05Z
dc.date.issued	2021
dc.identifier.uri	https://hdl.handle.net/10550/79481
dc.description.abstract	Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedback to enhance the operator immersion in surface treatment tasks. Two task-based assistance systems are also proposed to control each robotic manipulator individually. To validate the remote assisted control, some usability tests have been carried out using Baxter, a dual-arm collaborative robot. After analysing several benchmark metrics, the results show that the proposed assistance method helps to reduce the task duration and improves the overall performance of the teleoperation.
dc.language.iso	eng
dc.relation.ispartof	Ieee Transactions On Haptics, 2020, vol. 14, num. 1, p. 44-56
dc.source	Girbés, Vicent Schettino, Vinicius Demiris, Yiannis Tornero, Josep 2020 Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks Ieee Transactions On Haptics 14 1 44 56
dc.subject	Visió artificial (Robòtica)
dc.subject	Innovacions tecnològiques
dc.title	Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
dc.type	journal article	es_ES
dc.date.updated	2021-05-28T12:55:57Z
dc.identifier.doi	https://doi.org/10.1109/TOH.2020.3004388
dc.identifier.idgrec	146936
dc.embargo.terms	2 years
dc.rights.accessRights	open access	es_ES