Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit user's dexterity during bimanual tele-manipulation. While individual coordination robot end-effectors can be necessary for complex asymmetric tasks, it may result in a cumbersome user experience symmetric tasks (e.g. manipulating carrying objects). In this paper we propose novel framework that includes direct control new shared autonomy strategy. The autonomously choose...

Usability is one of the most important aspects teleoperation. Ideally, operator’s experience should be complete command over remote environment, but also as close possible to what they would have if physically present at end, i.e., transparency in terms both action and perception. These two may coincide favorable conditions, where classic approaches such four-channel architecture ensures control framework. In presence substantial delays between user slave, however, stability–performance...

Teleoperation offers the possibility to combine human intelligence with robot power and endurance, making it a perfect solution for hostile-for-human environments. Nonetheless, when concerns prolonged repetitive operations, classical teleoperation interfaces that replicate one-to-one commands can be quite demanding in terms of physical mental efforts. Shared-autonomy approaches, which foresee combination direct autonomous control, help operator overcoming such issues without sacrificing task...

In this paper we present the design of a one degree freedom assistive platform to augment strength upper limbs. The core element is variable stiffness actuator, closely reproducing behavior pair antagonistic muscles. novelty introduced by device analogy its control parameters with those human muscle system, threshold lengths. can be obtained from proper tuning mechanical system parameters. Based on this, idea inputs directly mapping estimation activations, e.g. via ElectroMyoGraphic(EMG)...

In this paper, we propose a method for improving the human operator's arm posture during bilateral teleoperation. The is based on musculoskeletal model that considers dynamics and feedback force from haptic interface (master), which used to control robotic (slave) in remote environment. We perform an online optimisation find optimal configuration has longest endurance time with respect muscle fatigue. Next, trajectory generated order guide into configuration. teleoperation temporarily...

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or more intuitive interfaces which map directly the user arm motions into one robot arm's motions. These approaches have limits when execution of given task requires reconfigurable multiple systems. Indeed, simultaneous two arms could extend...

Tele-operation in the presence of environmental constraints is a well-studied problem, where difficulties transparency-stability trade-off have been elucidated by several important studies. While at state-of-art, passivity-based stabilizers appear to provide best insight and command over this recent work our group has proposed an alternative approach, which consists measuring replicating master's limb endpoint impedance on slave robot real-time. Tele-impedance control offers advantages...

Abstract Force feedback is often beneficial for robotic teleoperation, as it enhances the user’s remote perception. Over years, many kinesthetic haptic displays (KHDs) have been proposed this purpose, which different types of interaction and feedback, depending on their kinematics interface with operator, including, example, grounded wearable devices acting either at joint or operational space (OS) level. Most KHDs in literature are upper limb, a majority shoulder/elbow level, others...

The improved adaptability of a robotic teleoperation system to unexpected disturbances in remote environments can be achieved by compliance control. Nevertheless, complying with all types interaction forces while performing realistic manipulation tasks may deteriorate the performance. For instance, loading effect objects and tools that are held manipulated robot introduce undesired deviations from reference trajectories case low-stiffness (or high payload) teleoperation. Although this...

The Learning from Demonstration (LfD) paradigm allows transferring human skills to robots without the need for explicit programming. To be effective, it requires: (i) a learning technique able encode and adapt demonstrated different contexts (ii) an intuitive user interface task demonstrations. Both aspects become more crucial when dealing with multi-robot coordination. Dynamic Movement Primitives (DMPs) are among most reliable LfD techniques. However, they might struggle correctly replicate...

In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the need, all within unstructured environments, and without requiring reprogramming or setup adjustments. To address this challenge, we introduce A3CQP, a non-strict hierarchical Quadratic Programming (QP) controller. It seamlessly combinesboth motion interaction functionalities, with priorities dynamically autonomously adapted through...

In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the need, all within unstructured environments, and without requiring reprogramming or setup adjustments. To address this challenge, we introduce A3CQP, a non-strict hierarchical Quadratic Programming (QP) controller. It seamlessly combines both motion interaction functionalities, with priorities dynamically autonomously adapted through...

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or more intuitive interfaces which map directly the user arm motions into one robot arm's motions. These approaches have limits when execution of given task requires reconfigurable multiple systems. Indeed, simultaneous two arms could extend...