Human Use of Flexible Tools for Dynamic Teleoperation

Abstract

This thesis explores possibilities and constraints in performing dynamic tasks through teleoperated robots. Teleoperation is commonly used to execute tasks by a human operator guiding a robot remotely through means of a teleoperation system. The teleoperation system bidirectionally mirrors the motions and forces between a handle device held by the operator and a robotic tool device interacting with the environment. While the use of teleoperation to execute slow motions precisely and with appropriate forces has been researched intensively, teleoperation for dynamic motions occurring in explosive movement tasks like throwing, hammering, shaking, and jolting is not yet sufficiently understood. Nevertheless, these motions also belong to the portfolio of motions that non-disabled humans routinely carry out. A deeper understanding of teleoperation for explosive movement tasks could be especially helpful for applications of field robotics, like disaster recovery scenarios, future planetary exploration missions, and other teleoperation applications in unknown environments where some degree of improvisation is useful.