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Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.

Thomas Hulin1, Michael Panzirsch1, Harsimran Singh1

  • 1Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany.

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|June 28, 2021
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Summary
This summary is machine-generated.

Model-augmented haptic telemanipulation (MATM) addresses challenges in telerobotics by using remote and local models for shared autonomy and haptic feedback. This approach enhances control for demanding applications like space robotics and telesurgery.

Keywords:
haptic constraintsmodel-augmented telemanipulationshared autonomyshared controltelerobotics

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Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Control Systems

Background:

  • Telerobotic applications, especially in space, face limitations with traditional telemanipulation due to delays, packet loss, and bandwidth constraints.
  • High reliability, precision, and long task durations are critical for these demanding environments.
  • Existing methods struggle to meet the stringent requirements of advanced telerobotic operations.

Purpose of the Study:

  • To introduce and detail the model-augmented haptic telemanipulation (MATM) approach.
  • To address the limitations of traditional telemanipulation in challenging environments.
  • To explore the advancements and applications of MATM in various fields.

Main Methods:

  • Utilizing a remote model for shared autonomous functionality of the teleoperated robot.
  • Employing a local model to generate assistive augmented haptic feedback for the human operator.
  • Integrating technological methods successfully demonstrated in prior telerobotic space missions.

Main Results:

  • MATM has been successfully applied and advanced for orbital robotics, telesurgery, caregiving, and telenavigation.
  • Key aspects like shared autonomy and haptic augmentation have been significantly improved.
  • The approach leverages proven technologies from past space missions.

Conclusions:

  • MATM offers a viable solution for overcoming limitations in challenging telerobotic applications.
  • The approach demonstrates broad applicability across diverse fields beyond space exploration.
  • Further research is needed to address remaining challenges and refine the technology.