相关论文: Conveying Surroundings Information of a Robot End-…

Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…

Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…

Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can improve the sensory awareness and motor accuracy of the…

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…

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…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…

This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…

In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

Previous work has shown that the addition of haptic feedback to the hands can improve awareness of tool-tissue interactions and enhance performance of teleoperated tasks in robot-assisted minimally invasive surgery. However, hand-based…

In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…

Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…

Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…

When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…