Tactile sensing with gesture-controlled collaborative robot
| Autor: | Calogero Maria Oddo, Nikola Lukic, Giuseppe Airò Farulla, Petar B. Petrovic, Tullio Tolio, Ivan Danilov, Terrin Pulikottil, Francesca Sorgini, Loris Roveda, Milos Milivojevic, Maria Chiara Carrozza, Bozica Bojovic, Paolo Prinetto |
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| Rok vydání: | 2020 |
| Předmět: |
telepresence
0209 industrial biotechnology collaborative robotics InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g. HCI) Computer science neuromorphic vibrotactile feedback 02 engineering and technology Human–robot interaction law.invention human-robot interaction 020901 industrial engineering & automation Neuromorphic engineering law Human–computer interaction gesture-based teleoperation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Human–machine system hand tracking Robotic arm Remote control ComputingMethodologies_COMPUTERGRAPHICS Gesture Haptic technology |
| Zdroj: | MetroInd4.0&IoT |
| DOI: | 10.1109/metroind4.0iot48571.2020.9138183 |
| Popis: | Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user's hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath. |
| Databáze: | OpenAIRE |
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