TY - GEN
T1 - InterActive and intuitiVe control interfAce for a Tele-operAted Robot (AVATAR) system
AU - Park, Sungman
AU - Jung, Yeongtae
AU - Bae, Joonbum
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - Tele-operation systems have been developed to perform tasks in extreme environments that cannot be accessed easily by humans. However, non-intuitive control interfaces, low immersive feeling, and wireless communication issues have prevented the wide application of such tele-operation systems. In this study, an intuitive and interactive control interface using inertial measurement units (IMUs), a wearable sensing glove, and a head-mounted display (HMD) is proposed to control a tele-operated robot in a remote place. Using user information measured from the wearable interface, the desired joint angles of the robot are derived by a kinematic analysis of the robot. Also, the measured visual information and the torque of the robot hand are transmitted to the user as visual feedback on the HMD and vibrational feedback to the user's fingertips, respectively. A semi-autonomous control strategy, referred to as shared control, was developed to overcome dimensional differences between the user and the robot, and to reduce the user's workload. As telecommunication methods, a long-term evolution (LTE) and a virtual private network (VPN) are used. The performance of the proposed system was verified by experiments.
AB - Tele-operation systems have been developed to perform tasks in extreme environments that cannot be accessed easily by humans. However, non-intuitive control interfaces, low immersive feeling, and wireless communication issues have prevented the wide application of such tele-operation systems. In this study, an intuitive and interactive control interface using inertial measurement units (IMUs), a wearable sensing glove, and a head-mounted display (HMD) is proposed to control a tele-operated robot in a remote place. Using user information measured from the wearable interface, the desired joint angles of the robot are derived by a kinematic analysis of the robot. Also, the measured visual information and the torque of the robot hand are transmitted to the user as visual feedback on the HMD and vibrational feedback to the user's fingertips, respectively. A semi-autonomous control strategy, referred to as shared control, was developed to overcome dimensional differences between the user and the robot, and to reduce the user's workload. As telecommunication methods, a long-term evolution (LTE) and a virtual private network (VPN) are used. The performance of the proposed system was verified by experiments.
UR - https://www.scopus.com/pages/publications/85028771057
U2 - 10.1109/AIM.2017.8014024
DO - 10.1109/AIM.2017.8014024
M3 - Conference paper
AN - SCOPUS:85028771057
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 241
EP - 246
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -