Flexible virtual fixture interface for path specification in tele-manipulation
Camilo Perez Quintero, Masood Dehghan, Oscar Ramirez, Marcelo H. Ang, Martin Jagersand
Abstract
We present the design and implementation of a flexible force-vision-based interface; allowing local operators to visually specify a path constraint to a remote robot manipulator in an on-line fashion during the teleoperation. Using bilateral and unilateral configurations, we compare our system to direct teleoperation through user studies. Three performance metrics (smoothness, error and execution time) and a subjective evaluation (NASA TLX) were used to quantify user performance. The trials show that our system outperforms direct teleoperation and reduces cognitive load. Our findings show that the performance of a unilateral teleop configuration with visual-force constraints surpass a bilateral teleop configuration in terms of displacement error and variance, as well as allowing users to complete tasks faster and with a smoother trajectory.
BibTeX
@inproceedings{icra2017_flexiblevirtualf,
title = {Flexible virtual fixture interface for path specification in tele-manipulation},
author = {Camilo Perez Quintero and Masood Dehghan and Oscar Ramirez and Marcelo H. Ang and Martin Jagersand},
booktitle = {ICRA 2017},
year = {2017}
}