Using Gaussian mixture models for gesture recognition during haptically guided telemanipulation

Haptic guidance is a promising method for assisting an operator in solving robotic remote operation tasks. It can be implemented through different methods, such as virtual fixtures, where a predefined trajectory is used to generate guidance forces, or interactive guidance, where sensor measurements are used to assist the operator in real-time...

Increasing impact by mechanical resonance for teleoperated hammering

Series elastic actuators (SEAs) are interesting for usage in harsh environments as they are more robust than rigid actuators. This paper shows how SEAs can be used in teleoperation to increase output velocity in dynamic tasks.<br/>A first experiment is presented that tested human ability to achieve higher hammerhead velocities with a flexible...

Haptic guidance on demand: A grip-force based scheduling of guidance forces

In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally...

Systematic Framework for Teleoperation with Haptic Shared Control

Teleoperation – performing tasks remotely by controlling a robot – permits the execution of many important tasks that would otherwise be infeasible for people to carry out directly. Nuclear accident recovery, deep water operations, and remote satellite servicing are just three examples. Remote task execution principally offers two extremes for...

A new free floating satellite dynamics testbed for hardware-in-the-loop docking experiments