High Fidelity Telepresence and Teleaction

MULTI-MODAL MULTI-USER TELEPRESENCE AND TELEACTION SYSTEM

The video shows a rich multi-modal multi-user telepresence system, which was developed within the SFB453 founded by the German Research foundation. A stationary and a mobile human-system-interface are presented, which provide visual, auditory and haptic feedback and enable to control the corresonding teleoprator. A hybrid display and 3D auditory feedback enhance navigational capabilities and the feeling of co-presence. As a complex application scenario of the developed system, the remote repairing of a broken pipe is presented. 

size: 14,6MB ; date: 05.10.2007

Dual Arm Redundant Telemanipulator

The remarkable dexterity that the human arm exhibits in various manipulation tasks is mainly due to the kinematic redundancy of the arm. Based on the kinematic analysis of human limbs, the resulting anthropomorphic dual arm design is developed, of which each arm consists of two spherical joints with 3 DoFs at the shoulder and the wrist, and one revolute joint at the elbow. The maximum reach of the dual arm manipulator is 0.86 m and the total weight of each arm is approx. 13.5kg with 6kg of payload. Due to the redundant DoF, elbow motion which is also often referred as nullspace motion is possible. The nullspace motion consists of nonzero joint velocity motions, which do not affect the endeffector. Therefore, it can be utilized to satisfy some additional constraints or to improve several secondary performance criteria.

size:16MB ; date:26.04.2007

Singularity Robust Inverse Kinematics with Anthropomorphic Telemanipulator

The video is dedicated to show the singularity problem and its remedy. The wrist singularity of the telemanipulator occurs when the 5th and the 7th rotation axes are aligned, resulting in high joint velocities in both joints. For ensuring anthropomorphic manipulation, traversing the wrist singular configuration is necessary since human usually works near or at the wrist singularity. As shown in the video, the wrist singularity can be observed in almost all inverse kinematic solutions including the analytical solution and the pseudo-inverse based least square solution. As a remedy to this problem, the weighed damped least square method is implemented to prohibit high joint velocities at the cost of slight tracking error. It allows an operator to damp each joint independently and assign relative priorities between task variables.

size:18.9MB ; date:26.04.2007

Tele-assembly in wide remote environments

The video shows a telepresence system which allows to perfom an assembly task in an extensive remote environment. It comprises a telemanipulator with two anthropomorphic 7-DOF arms controlled by a hyper-redundant 10-DOF haptic display. Dexterous manipulation capabilities are achieved by employing 3-finger grippers at the teleoperator site and data gloves at the operator site. Mounting the telemanipulator on an omnidirectional mobile platform additionally  enables the teleoperator to freely move around in the remote environment. Thereby the locomotion is controlled via a specifically designed 3-DOF pedal. The video shows an assembly experiment with toy bricks which involves locomotion, navigation and dextrous manipulation tasks.

size:10.9MB ; date:26.04.2007

Telegrasping with BarrettHand; CyberGlove and CyberGrasp

A multi-fingered telemanipulation system consisting of a three-finger robotic gripper, a dataglove and an exoskeleton will be presented, which is used to perform complex manipulation tasks. In order to map the human hand and finger motions to the robotic hand motion a joint to joint angle mapping, which is especially suitable for enveloping and power grasps, is implemented. Force feedback is additionally provided by an exoskeleton, which is mounted to the back of the human hand. Similar to the position mapping algorithm, also a force mapping algorithm is provided. The system is used to grasp different objects like a bottle and a screw driver.

size:6.3MB ; date:26.04.2007

Teleoperation with ViSHaRD10 and 7 Dof Telemanipulator

A teleoperation system consisting of a hyper redundant haptic input device, called  VisHaRD10, a redundant 7DoF slave manipulator, and a stereo vision system will be presented. Using this system two experiments ranging from haptic exploration to an assembly experiment in 6 DoF are performed. The first experiment focuses on haptic exploration, whereby the following situations are distinguished: free space motion, environment contact, and shape following. The second experiment shows a tele-assembly task, whereby the human operator is asked to tight a screw over telepresence. All experiments are successfully performed.

size:6.2MB ; date:26.04.2007

REDUNDANCY RESOLUTION WITH MULTIPLE CRITERIA

size: 18.6MB ; date: 14.08.2005

HYPER-REDUNDANT HAPTIC INTERFACE VISHARD10

size: 5.13MB ; date: 05.2004