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Bilateral teleoperation papers summary, Summaries of Robotics

Anna UniversityRobotics

Bilateral teleoperation papers summary

Typology: Summaries

2023/2024

Uploaded on 09/04/2024

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1. Progressive Automation with DMP Synchronization and Variable
Stiffness Control
Robot gradually learns to task through repeated demonstrations by a human operator.
Integration of Dynamic Movement Primitives (DMPs) with a variable stiffness controller, which
enables the robot to adjust its motion and stiffness in real-time based on the operator's input.
The DMP framework provides a compact and scalable representation of the task, while the
variable stiffness control ensures that the robot can smoothly transition between being guided
by the human and performing the task autonomously.
Relation to Bilateral Teleoperation:
Future scope: The ability to adjust stiffness dynamically can enhance the haptic feedback
provided to the user. The DMPs can be employed to model and reproduce complex motion
patterns between the two arms, allowing for more natural and coordinated movements in
teleoperation tasks.
2. Real-time Force-feedback Micromanipulation using Mobile Microrobots
with Colored Fiducials
Mobile microrobots equipped with an on-board vision-based 2D micro-force sensor - Precise
force feedback, such as manipulating delicate biological cells. The microrobots feature
compliant end-effectors with varying stiffnesses and color tracking fiducials that work in tandem
with computer vision algorithms to provide real-time micro-force feedback. The microrobots
have potential applications in fields such as mechanobiology and theranostics .
Relation to Bilateral Teleoperation: Micromanipulation using force-sensing microrobots, which
directly aligns with the principles of haptic feedback in teleoperation.
In a bilateral teleoperation system, the force feedback mechanism described in this paper can
be adapted to provide tactile sensations to the operator, allowing them to feel and react to the
forces exerted by the manipulator arms.
3. Design and Evaluation of a Bilateral Mobile Ankle Exoskeleton
This paper presents the design and evaluation of a lightweight bilateral mobile ankle
exoskeleton designed to assist with human locomotion. The exoskeleton is equipped with
high-efficiency actuators and compliant end-effectors that provide significant torque assistance
while maintaining a low system weight. The exoskeleton's actuation system is designed to
minimize metabolic penalty and maximize assistance capacity, with the entire system weighing
only 3.4 kg. Preliminary physiological experiments demonstrated that the exoskeleton effectively
reduces muscle activity in the calves during walking, indicating its potential for real-life
applications and rehabilitation .
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1. Progressive Automation with DMP Synchronization and Variable

Stiffness Control

Robot gradually learns to task through repeated demonstrations by a human operator. Integration of Dynamic Movement Primitives (DMPs) with a variable stiffness controller, which enables the robot to adjust its motion and stiffness in real-time based on the operator's input. The DMP framework provides a compact and scalable representation of the task, while the variable stiffness control ensures that the robot can smoothly transition between being guided by the human and performing the task autonomously. Relation to Bilateral Teleoperation : Future scope: The ability to adjust stiffness dynamically can enhance the haptic feedback provided to the user. The DMPs can be employed to model and reproduce complex motion patterns between the two arms, allowing for more natural and coordinated movements in teleoperation tasks.

2. Real-time Force-feedback Micromanipulation using Mobile Microrobots

with Colored Fiducials

Mobile microrobots equipped with an on-board vision-based 2D micro-force sensor - Precise force feedback, such as manipulating delicate biological cells. The microrobots feature compliant end-effectors with varying stiffnesses and color tracking fiducials that work in tandem with computer vision algorithms to provide real-time micro-force feedback. The microrobots have potential applications in fields such as mechanobiology and theranostics. Relation to Bilateral Teleoperation : Micromanipulation using force-sensing microrobots, which directly aligns with the principles of haptic feedback in teleoperation. In a bilateral teleoperation system, the force feedback mechanism described in this paper can be adapted to provide tactile sensations to the operator, allowing them to feel and react to the forces exerted by the manipulator arms.

3. Design and Evaluation of a Bilateral Mobile Ankle Exoskeleton

This paper presents the design and evaluation of a lightweight bilateral mobile ankle exoskeleton designed to assist with human locomotion. The exoskeleton is equipped with high-efficiency actuators and compliant end-effectors that provide significant torque assistance while maintaining a low system weight. The exoskeleton's actuation system is designed to minimize metabolic penalty and maximize assistance capacity, with the entire system weighing only 3.4 kg. Preliminary physiological experiments demonstrated that the exoskeleton effectively reduces muscle activity in the calves during walking, indicating its potential for real-life applications and rehabilitation.

Relation to Bilateral Teleoperation : The underlying principles of actuation, force control, and feedback are relevant to bilateral teleoperation. In a teleoperation setup, the control algorithms and mechanical design principles used in the exoskeleton could be applied to the design of teleoperated robotic arms. The bilateral nature of the exoskeleton’s control system—where both ankles are simultaneously assisted—parallels the coordination required in controlling two robotic arms. Moreover, the focus on reducing metabolic costs and optimizing force output can inform the design of efficient and responsive teleoperation systems with haptic feedback.

4. Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Use of robotic coworkers in space missions - The primary focus is on the teleoperation of these robots from an orbiting spacecraft, which is critical due to the communication delays and the hazardous environments. ● Astronaut-Robot Teleoperation Concept : The core concept involves using a Human-Robot Interface (HRI) that allows astronauts to command robots with a mix of autonomy and direct control. The robot's actions are driven by a knowledge-based system, where the robot uses predefined "Action Templates" to understand and manipulate its environment. Relation to Bilateral Teleoperation: ● Bilateral Teleoperation : In the context of bilateral teleoperation, the operator (an astronaut in this case) can control the robot's manipulator arms remotely while receiving feedback (e.g., force feedback) that mimics the physical interaction the robot is experiencing. This paper explores how astronauts can command such robots from an orbiting spacecraft using a Human-Robot Interface (HRI). ● Two Manipulator Arms : Rollin’ Justin's two arms allow it to perform tasks such as assembly and maintenance, which are critical in space environments. The paper might not delve deeply into the technical specifics of bilateral control (such as haptic feedback loops), but the overall system setup implies a need for precise control and interaction between the robot's manipulators and the environment, which is a key aspect of bilateral teleoperation.

5. Parallelism In Autonomous Robotics Surgery

● Teleoperation and Automation : The paper could explore advancements in teleoperation technology, possibly building on or contrasting with the ideas presented in the first paper. ● Human-Robot Interaction : Another likely focus could be on improving the interaction between humans and robots, particularly in complex scenarios where both entities need to collaborate closely.