Related papers: A Digital Twin Framework for Virtual Visuo-Haptic …
Optical microrobots actuated by optical tweezers (OT) offer great potential for biomedical applications such as cell manipulation and microscale assembly. These tasks demand accurate three-dimensional perception to ensure precise control in…
This study advanced tele-operations in Advanced Air Mobility (AAM) through the creation of a Vehicle Digital Twin (VDT) system for eVTOL aircraft, tailored to enhance remote control safety and efficiency, especially for Beyond Visual Line…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Subsea exploration, inspection, and intervention operations heavily rely on remotely operated vehicles (ROVs). However, the inherent complexity of the underwater environment presents significant challenges to the operators of these…
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…
Using optical tweezers and a haptic device, microspheres having diameters ranging from 3 to 4 um (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Optical tweezers (OTs) with structured light expand degrees of freedom of particle manipulation. However, the studies of structured optical tweezers are usually accompanied by complex theoretical models, strict simulation conditions, and…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
Digital twin (DT) technology can replicate physical entities in cyberspace. A mobility DT digitalizes connected and autonomous vehicles (CAVs) and their surrounding traffic environment, allowing to monitor the maneuvering and distribution…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating…
Human digital twin (HDT) is an emerging paradigm that bridges physical twins (PTs) with powerful virtual twins (VTs) for assisting complex task executions in human-centric services. In this paper, we study a two-timescale online…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…