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Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

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Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

dc.contributor.author	Girbés, Vicent
dc.contributor.author	Schettino, Vinicius
dc.contributor.author	Gracia, Luis
dc.contributor.author	Solanes, Juan Ernesto
dc.contributor.author	Demiris, Yiannis
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2023-05-11T16:45:51Z
dc.date.available	2023-05-11T16:45:51Z
dc.date.issued	2022
dc.identifier.citation	Girbés, Vicent Schettino, Vinicius Gracia, Luis Solanes, Juan Ernesto Demiris, Yiannis Tornero, Josep 2022 Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot Journal On Multimodal User Interfaces 16 219 238
dc.identifier.uri	https://hdl.handle.net/10550/86564
dc.description.abstract	High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.
dc.language.iso	eng
dc.relation.ispartof	Journal On Multimodal User Interfaces, 2022, vol. 16, p. 219-238
dc.subject	Tecnologia
dc.title	Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot
dc.type	journal article
dc.date.updated	2023-05-11T16:45:51Z
dc.identifier.doi	10.1007/s12193-021-00386-8
dc.identifier.idgrec	158294
dc.rights.accessRights	open access