Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric...

Area of Science:

• Robotics
• Human-Computer Interaction
• Control Systems Engineering

Background:

• Tele-manipulation systems require adaptable end-effectors for diverse tasks.
• Controlling asymmetric master-slave robotic systems presents significant challenges.
• Existing frameworks often lack device-agnostic control for robotic hands.

Purpose of the Study:

• To develop a unified control framework for tele-manipulation systems accommodating various robotic hands.
• To address kinematic, sensing, and actuation asymmetries in master-slave robotic setups.
• To create a hardware-independent control policy in a unified postural synergy space.

Main Methods:

• Introduction of a novel synergy port to resolve system asymmetries.
• Development of a Cartesian-based synergy matrix for mapping fingertip space.
• Integration of the synergy port into a tele-manipulation framework controlling the SoftHand via the HEXOTRAC exoskeleton.
• Utilizing the Optitrack motion capture system for wrist trajectory monitoring.

Main Results:

• The developed synergy port effectively resolved kinematic, sensing, and actuation asymmetries.
• Experiments with COMAN and KUKA LWR robots demonstrated intuitive control.
• Users with no prior experience successfully performed reach, grasp, and transport tasks with various objects.
• The system accommodated different user hand kinematics, proving its flexibility.

Conclusions:

• The proposed control framework provides a universal, flexible, and intuitive interface for tele-manipulation.
• The synergy port enables high performance by allowing flexible end-effector interchangeability.
• This approach enhances user experience and task effectiveness in robotic manipulation.