Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

Aran Sena; Quentin Rouxel; Ekaterina Ivanova; Etienne Burdet; Zhibin Li

doi:10.1109/ROBIO54168.2021.9739628

Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

Aran Sena^*, Quentin Rouxel, Ekaterina Ivanova, Etienne Burdet, Zhibin Li

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

https://www.youtube.com/watch?v=KJJZQ0BhPDI

Abstract

This paper presents a novel teleoperation system, which has been designed to address challenges in the remote control of spaceborne bimanual robotic tasks. The primary interest for designing this system is to assess and increase the efficacy of users performing bimanual tasks, while ensuring the safety of the system and minimising the user’s mental load. This system consists of two seven-axis robots that are remotely controlled through two haptic control interfaces. The mental load of the user is monitored using a head-mounted interface, which collects eye gaze data and provides components for the holographic user interface. The development of this system enables the safe execution of tasks remotely, which is a critical building block for developing and deploying future space missions as well as other high-risk tasks.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021)
Publisher	Institute of Electrical and Electronics Engineers
Pages	1234-1239
Number of pages	6
ISBN (Electronic)	978-1-6654-0535-5
ISBN (Print)	978-1-6654-0536-2
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739628
Publication status	Published - 28 Mar 2022
Event	2021 IEEE International Conference on Robotics and Biomimetics - Sanya, China Duration: 6 Dec 2021 → 10 Dec 2021 https://ieee-robio.org/2021/

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics
Abbreviated title	ROBIO 2021
Country/Territory	China
City	Sanya
Period	6/12/21 → 10/12/21
Internet address	https://ieee-robio.org/2021/

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10.1109/ROBIO54168.2021.9739628Licence: All Rights Reserved

Haptic Bimanual System_SENA_DOA07102021_AFVAccepted author manuscript, 8.38 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9739628Licence: All Rights Reserved

Cite this

@inproceedings{fdeb3afe501441c7b138ee712ab442eb,

title = "Haptic Bimanual System for Teleoperation of Time-Delayed Tasks",

abstract = "This paper presents a novel teleoperation system, which has been designed to address challenges in the remote control of spaceborne bimanual robotic tasks. The primary interest for designing this system is to assess and increase the efficacy of users performing bimanual tasks, while ensuring the safety of the system and minimising the user{\textquoteright}s mental load. This system consists of two seven-axis robots that are remotely controlled through two haptic control interfaces. The mental load of the user is monitored using a head-mounted interface, which collects eye gaze data and provides components for the holographic user interface. The development of this system enables the safe execution of tasks remotely, which is a critical building block for developing and deploying future space missions as well as other high-risk tasks.",

author = "Aran Sena and Quentin Rouxel and Ekaterina Ivanova and Etienne Burdet and Zhibin Li",

note = "Funding Information: Many thanks to Dr. Ziwei Wang for his helpful comments in preparation of this paper. This work has been funded by the UK{\textquoteright}s EPSRC Robotics and AI hub – Future AI and Robotics for Space, FAIR-SPACE (EP/R026092/1). Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 06-12-2021 Through 10-12-2021",

year = "2022",

month = mar,

day = "28",

doi = "10.1109/ROBIO54168.2021.9739628",

language = "English",

isbn = "978-1-6654-0536-2",

pages = "1234--1239",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

url = "https://ieee-robio.org/2021/",

}

Sena, A, Rouxel, Q, Ivanova, E, Burdet, E & Li, Z 2022, Haptic Bimanual System for Teleoperation of Time-Delayed Tasks. in 2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021). Institute of Electrical and Electronics Engineers, pp. 1234-1239, 2021 IEEE International Conference on Robotics and Biomimetics, Sanya, China, 6/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739628

TY - GEN

T1 - Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

AU - Sena, Aran

AU - Rouxel, Quentin

AU - Ivanova, Ekaterina

AU - Burdet, Etienne

AU - Li, Zhibin

N1 - Funding Information: Many thanks to Dr. Ziwei Wang for his helpful comments in preparation of this paper. This work has been funded by the UK’s EPSRC Robotics and AI hub – Future AI and Robotics for Space, FAIR-SPACE (EP/R026092/1). Publisher Copyright: © 2021 IEEE.

PY - 2022/3/28

Y1 - 2022/3/28

N2 - This paper presents a novel teleoperation system, which has been designed to address challenges in the remote control of spaceborne bimanual robotic tasks. The primary interest for designing this system is to assess and increase the efficacy of users performing bimanual tasks, while ensuring the safety of the system and minimising the user’s mental load. This system consists of two seven-axis robots that are remotely controlled through two haptic control interfaces. The mental load of the user is monitored using a head-mounted interface, which collects eye gaze data and provides components for the holographic user interface. The development of this system enables the safe execution of tasks remotely, which is a critical building block for developing and deploying future space missions as well as other high-risk tasks.

AB - This paper presents a novel teleoperation system, which has been designed to address challenges in the remote control of spaceborne bimanual robotic tasks. The primary interest for designing this system is to assess and increase the efficacy of users performing bimanual tasks, while ensuring the safety of the system and minimising the user’s mental load. This system consists of two seven-axis robots that are remotely controlled through two haptic control interfaces. The mental load of the user is monitored using a head-mounted interface, which collects eye gaze data and provides components for the holographic user interface. The development of this system enables the safe execution of tasks remotely, which is a critical building block for developing and deploying future space missions as well as other high-risk tasks.

UR - https://youtu.be/KJJZQ0BhPDI

U2 - 10.1109/ROBIO54168.2021.9739628

DO - 10.1109/ROBIO54168.2021.9739628

M3 - Conference contribution

SN - 978-1-6654-0536-2

SP - 1234

EP - 1239

BT - 2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021)

PB - Institute of Electrical and Electronics Engineers

T2 - 2021 IEEE International Conference on Robotics and Biomimetics

Y2 - 6 December 2021 through 10 December 2021

ER -

Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

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Conference

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Future AI and Robotics for Space (FAIR-SPACE)

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Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

Abstract

Conference

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Projects

Future AI and Robotics for Space (FAIR-SPACE)

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