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    This study introduces partial orientation regulation (POR) for robots with limited movement capabilities. The new haptic shared autonomy method safely restricts unreachable motions while maintaining intuitive control for operators.

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    Area of Science:

    • Robotics
    • Control Systems
    • Human-Computer Interaction

    Background:

    • Orientation regulation is crucial for autonomous systems.
    • Partial Orientation Regulation (POR) addresses safety by preventing unreachable motions.
    • Degree-of-Freedom (DoF) deficiency in remote systems necessitates POR.

    Purpose of the Study:

    • To develop a POR method for systems with rotational DoF deficiency.
    • To address challenges in decomposing orientations and providing haptic feedback for missing DoF.
    • To enhance intuitive control in remote robotic operations.

    Main Methods:

    • Proposed a haptic shared autonomy approach with POR capabilities.
    • Utilized perpendicular curve theory in SO(3) for orientation decomposition.
    • Designed a haptic rendering algorithm to convey missing DoF information.

    Main Results:

    • Successfully regulated operator orientation commands, discarding unreachable motions.
    • Preserved remaining intuitive motions for follower robots.
    • Haptic rendering effectively communicated missing DoF information.

    Conclusions:

    • The proposed haptic shared autonomy with POR is effective for DoF-deficient systems.
    • The method enhances safety and intuitiveness in remote robotic control.
    • Validated through simulations and experimental results.