Print Email Facebook Twitter Human Use of Flexible Tools for Dynamic Teleoperation Title Human Use of Flexible Tools for Dynamic Teleoperation Author Aiple, M. (TU Delft Biomechatronics & Human-Machine Control) Contributor van der Helm, F.C.T. (promotor) Schiele, A. (copromotor) Degree granting institution Delft University of Technology Date 2021-02-26 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. Subject Dynamic TeleoperationVariable Impedance ActuatorElastic Tool Use To reference this document use: https://doi.org/10.4233/uuid:1dd97312-bb7b-43c5-a931-303bd8649883 ISBN 978-94-6419-130-1 Part of collection Institutional Repository Document type doctoral thesis Rights © 2021 M. Aiple Files PDF dissertation_Manuel_Aiple ... screen.pdf 7.1 MB Close viewer /islandora/object/uuid:1dd97312-bb7b-43c5-a931-303bd8649883/datastream/OBJ/view