A virtual reality-based dual-mode robot teleoperation architecture

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-05-07 DOI:10.1017/s0263574724000663
Marco Gallipoli, Sara Buonocore, Mario Selvaggio, Giuseppe Andrea Fontanelli, Stanislao Grazioso, Giuseppe Di Gironimo
{"title":"A virtual reality-based dual-mode robot teleoperation architecture","authors":"Marco Gallipoli, Sara Buonocore, Mario Selvaggio, Giuseppe Andrea Fontanelli, Stanislao Grazioso, Giuseppe Di Gironimo","doi":"10.1017/s0263574724000663","DOIUrl":null,"url":null,"abstract":"<p>This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the <span>Approach</span> mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the <span>Telemanip</span> mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1017/s0263574724000663","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

Abstract

This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.

查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于虚拟现实的双模式机器人远程操作架构
本文提出了一种基于虚拟现实的双模式远程操作架构,以协助人类操作员安全灵活地远程操作机器人操纵系统。该架构通过有限状态机实现,使操作员能够在两种操作模式之间切换:接近模式(操作员通过沉浸式虚拟现实(VR)界面指定机器人系统的目标配置,从而间接控制机器人系统)和远程操纵模式(操作员通过输入设备直接控制机器人末端执行器的运动)。这两种独立的控制模式已在 18 名参与者的抽样调查中进行了测试。为了区分有 VR 技术使用经验的用户和新手,我们考虑了两个工作组。本作品中展示的用户研究结果表明,所提议的架构在可用性、体力和脑力工作量以及用户满意度方面都具有潜力。最后,统计分析表明,在这三个指标上,两个被考虑的群体之间没有明显差异,这表明无论是有 VR 经验还是没有 VR 经验的人,都很容易使用所提议的架构。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
期刊最新文献
3D dynamics and control of a snake robot in uncertain underwater environment An application of natural matrices to the dynamic balance problem of planar parallel manipulators Control of stance-leg motion and zero-moment point for achieving perfect upright stationary state of rimless wheel type walker with parallel linkage legs Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters High accuracy hybrid kinematic modeling for serial robotic manipulators
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1