This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improving the user perfor- mance during the teleoperation of different robotic platforms and the interaction with the environment on the remote construction sites. The haptic feedback is provided through two compact parallel kinematic (CPK) interfaces that will be presented within the paper. The CPK implements a novel variant of the Delta kinematics which allows minimizing the radial encumbrance while preserving same operational workspace. In addition, we propose a new interaction modality that provides users the feeling of directly maneuvering the end-effector of the demolition machine. Finally, the architec- ture of the proposed system is presented and the results of some preliminary evaluation tests are discussed. The experiments have been performed in simulated environments and on a real machine.

A Novel Wearable Haptic Controller for Teleoperating Robotic Platforms

SATLER, MASSIMO;FILIPPESCHI, Alessandro;BERGAMASCO, Massimo;ARGIOLAS, ALFREDO;NICCOLINI, Marta;AVIZZANO, Carlo Alberto
2017

Abstract

This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improving the user perfor- mance during the teleoperation of different robotic platforms and the interaction with the environment on the remote construction sites. The haptic feedback is provided through two compact parallel kinematic (CPK) interfaces that will be presented within the paper. The CPK implements a novel variant of the Delta kinematics which allows minimizing the radial encumbrance while preserving same operational workspace. In addition, we propose a new interaction modality that provides users the feeling of directly maneuvering the end-effector of the demolition machine. Finally, the architec- ture of the proposed system is presented and the results of some preliminary evaluation tests are discussed. The experiments have been performed in simulated environments and on a real machine.
File in questo prodotto:
File Dimensione Formato  
07962162.pdf

solo utenti autorizzati

Tipologia: Documento in Post-print
Licenza: Non pubblico
Dimensione 1.71 MB
Formato Adobe PDF
1.71 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11382/516737
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 19
social impact