Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying dela...
| Main Authors: | , , , , , , , , , , , , , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-06-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.611251/full |
| _version_ | 1818440627687260160 |
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| author | Thomas Hulin Michael Panzirsch Harsimran Singh Andre Coelho Ribin Balachandran Aaron Pereira Bernhard M. Weber Nicolai Bechtel Cornelia Riecke Bernhard Brunner Neal Y. Lii Julian Klodmann Anja Hellings Katharina Hagmann Gabriel Quere Adrian S. Bauer Marek Sierotowicz Roberto Lampariello Jörn Vogel Alexander Dietrich Daniel Leidner Christian Ott Gerd Hirzinger Alin Albu-Schäffer |
| author_facet | Thomas Hulin Michael Panzirsch Harsimran Singh Andre Coelho Ribin Balachandran Aaron Pereira Bernhard M. Weber Nicolai Bechtel Cornelia Riecke Bernhard Brunner Neal Y. Lii Julian Klodmann Anja Hellings Katharina Hagmann Gabriel Quere Adrian S. Bauer Marek Sierotowicz Roberto Lampariello Jörn Vogel Alexander Dietrich Daniel Leidner Christian Ott Gerd Hirzinger Alin Albu-Schäffer |
| author_sort | Thomas Hulin |
| collection | DOAJ |
| description | Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges. |
| first_indexed | 2024-12-14T18:15:22Z |
| format | Article |
| id | doaj.art-ab75234c21154e04a7579ade8a790159 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-14T18:15:22Z |
| publishDate | 2021-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-ab75234c21154e04a7579ade8a7901592022-12-21T22:52:12ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-06-01810.3389/frobt.2021.611251611251Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use CasesThomas HulinMichael PanzirschHarsimran SinghAndre CoelhoRibin BalachandranAaron PereiraBernhard M. WeberNicolai BechtelCornelia RieckeBernhard BrunnerNeal Y. LiiJulian KlodmannAnja HellingsKatharina HagmannGabriel QuereAdrian S. BauerMarek SierotowiczRoberto LamparielloJörn VogelAlexander DietrichDaniel LeidnerChristian OttGerd HirzingerAlin Albu-SchäfferCertain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.https://www.frontiersin.org/articles/10.3389/frobt.2021.611251/fullteleroboticsmodel-augmented telemanipulationshared controlshared autonomyhaptic constraints |
| spellingShingle | Thomas Hulin Michael Panzirsch Harsimran Singh Andre Coelho Ribin Balachandran Aaron Pereira Bernhard M. Weber Nicolai Bechtel Cornelia Riecke Bernhard Brunner Neal Y. Lii Julian Klodmann Anja Hellings Katharina Hagmann Gabriel Quere Adrian S. Bauer Marek Sierotowicz Roberto Lampariello Jörn Vogel Alexander Dietrich Daniel Leidner Christian Ott Gerd Hirzinger Alin Albu-Schäffer Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases Frontiers in Robotics and AI telerobotics model-augmented telemanipulation shared control shared autonomy haptic constraints |
| title | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases |
| title_full | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases |
| title_fullStr | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases |
| title_full_unstemmed | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases |
| title_short | Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases |
| title_sort | model augmented haptic telemanipulation concept retrospective overview and current use cases |
| topic | telerobotics model-augmented telemanipulation shared control shared autonomy haptic constraints |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.611251/full |
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