Haptics in telerobotics

For telerobotic systems the ultimate goal is transparency, meaning the human operator cannot distinguish between operating in a local or a distant environment. To achieve this, the human operator is coupled with the telerobotic system with all necessary senses: visual, auditory and haptic modality. For the haptic modality this implies research in the following fields: robotic hardware, both handcontroller and teleoperators, and control aspects with time delay. The latter include both supervisory and bilateral control. In this paper the current and future aspects of haptics in telerobotics are shown focusing on the control research. With the evolving technology in these research areas telerobotic systems can now be found in a variety of different application fields, e.g. microassembly, surgery or space.

[1]  Blake Hannaford,et al.  Time domain passivity control for 6 degrees of freedom haptic displays , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[2]  Klaus Landzettel,et al.  Robotics Component Verification on ISS ROKVISS - Preliminary Results for Telepresence , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Blake Hannaford,et al.  Time domain passivity control with reference energy following , 2005, IEEE Transactions on Control Systems Technology.

[4]  Gerd Hirzinger,et al.  Time Domain Passivity Control-based Telepresence with Time Delay , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Klaus Landzettel,et al.  DLR on the way towards Telepresent On-Orbit Servicing , 2004 .

[6]  Thomas B. Sheridan,et al.  Telerobotics, Automation, and Human Supervisory Control , 2003 .

[7]  Gerd Hirzinger,et al.  The 3D-Modeller: A Multi-Purpose Vision Platform , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[8]  Klaus Landzettel,et al.  ROKVISS - towards Telepresence Control in Advanced Space Missions , 2003 .

[9]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[10]  Alin Albu-Schaffer,et al.  Design and Haptic Control of a 6 DoF Force-Feedback Device , 2001 .

[11]  Gerd Hirzinger,et al.  ROTEX-the first remotely controlled robot in space , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[12]  Alin Albu-Schäffer,et al.  DLR's robotics technologies for on-orbit servicing , 2004, Adv. Robotics.

[13]  Antonio Frisoli,et al.  The hand force feedback: analysis and control of a haptic device for the human-hand , 2000, Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics. 'cybernetics evolving to systems, humans, organizations, and their complex interactions' (cat. no.0.

[14]  Tobias Ortmaier,et al.  Teleoperation Concepts in Minimal Invasive Surgery , 2001 .

[15]  Günter Schreiber,et al.  A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties , 2001, ISRR.

[16]  Martin Buss,et al.  Control Problems in Multi-Modal Telepresence Systems , 1999 .

[17]  G. Hirzinger,et al.  Wave Variables based Bilateral Control with a Time Delay Model for Space Robot Applications , 2004 .

[18]  Klaus Landzettel,et al.  ROKVISS Verification of Advanced Light Weight Robotic Joints and Tele-Presence Concepts for Future Space Missions , 2006 .

[19]  Tsuneo Yoshikawa,et al.  Bilateral teleoperation under time-varying communication delay , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[20]  Jordi Villanova i Buxó Time Domain Passivity-based Telepresence with Time Delay , 2005 .

[21]  Martin Buss,et al.  Benefits of combined active stereo vision and haptic telepresence , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[22]  Tobias Ortmaier,et al.  The DLR Telepresence Experience in Space and Surgery , 2005 .

[23]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[24]  Martin Gröger,et al.  Robust Motion Estimation in Robotic Surgery on the Beating Heart , 2002 .

[25]  Thomas Hulin,et al.  Evalution of Vibro-Tactile Feedback to the Human Arm , 2006 .

[26]  Blake Hannaford,et al.  Sampled- and continuous-time passivity and stability of virtual environments , 2003, IEEE Transactions on Robotics.

[27]  Bernhard Kübler,et al.  Development of actuated and sensor integrated forceps for minimally invasive robotic surgery , 2006 .

[28]  Jean-Jacques E. Slotine,et al.  Towards force-reflecting teleoperation over the Internet , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[29]  Tobias Ortmaier,et al.  Motion Compensation in Minimally Invasive Robotic Surgery , 2003 .

[30]  Alin Albu-Schäffer,et al.  Robotic On-Orbit Servicing - DLR's Experience and Perspective , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Tobias Ortmaier,et al.  Cartesian Control of Robots with Working-Position Dependent Dynamics , 2000 .

[32]  Mark W. Powell,et al.  Mars Exploration Rover Operations with the Science Activity Planner , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[33]  Tobias Ortmaier,et al.  Toward High-Fidelity Telepresence in Space and Surgery Robotics , 2004, Presence: Teleoperators & Virtual Environments.

[34]  G Hirzinger,et al.  Development of actuated and sensor integrated forceps for minimally invasive robotic surger , 2005, The international journal of medical robotics + computer assisted surgery : MRCAS.

[35]  Jordi Artigas,et al.  Testbed for Telepresent On-Orbit Satellite Servicing , 2006 .

[36]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[37]  Blake Hannaford,et al.  Time domain passivity control of haptic interfaces , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[38]  Tobias Ortmaier,et al.  Motion estimation in minimally invasive beating heart surgery , 2002 .

[39]  Gerd Hirzinger,et al.  Sensor-based space robotics-ROTEX and its telerobotic features , 1993, IEEE Trans. Robotics Autom..

[40]  T. Ortmaier,et al.  Minimally Invasive Robotic Surgery: Foundations and Perspectives, , 2003 .

[41]  Christoph Borst,et al.  A Humanoid Two-Arm System for Dexterous Manipulation , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[42]  Hong Liu,et al.  DLR hand II: experiments and experience with an anthropomorphic hand , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[43]  Martin Buss,et al.  Actuating a Data-Glove with Thermal-Tactile Feedback - Human Factors Considerations , 2005 .

[44]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.