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Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce errors and increase performance under delay is to downscale…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision and efficiency: small MSF enables delicate manipulation but…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Robot teleoperation with extended reality (XR teleoperation) enables intuitive interaction by allowing remote robots to mimic user motions with real-time 3D feedback. However, existing systems face significant motion-to-motion (M2M)…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by efficiency constraints in time and space, and the pipeline…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving these goals is hindered by the deleterious effects of latency…
As robot teleoperation increasingly becomes integral in executing tasks in distant, hazardous, or inaccessible environments, the challenge of operational delays remains a significant obstacle. These delays are inherent in signal…