00496nas a2200133 4500008004100000245010000041210006900141490000600210100001700216700002400233700002000257700002000277856006500297 2021 eng d00aA wearable wrist haptic display for motion tracking and force feedback in the operational space0 awearable wrist haptic display for motion tracking and force feed0 v21 aLaghi, Marco1 aCatalano, Manuel, G1 aGrioli, Giorgio1 aBicchi, Antonio uhttp://118699.obes.asia/https%3A//doi.org/10.1017/wtc.2021.402286nas a2200205 4500008004100000245008500041210006900126260001200195520165200207653001401859653001401873653001801887653001701905653001401922100001701936700002001953700002501973700002001998856006202018 2019 eng d00aUnifying bilateral teleoperation and tele-impedance for enhanced user experience0 aUnifying bilateral teleoperation and teleimpedance for enhanced  c12/20193 a

Usability is one of the most important aspects of teleoperation. Ideally, the operator’s experience should be one of complete command over the remote environment, but also be as close as possible to what s/he would have if physically present at the remote end - i.e. transparency in terms of both action and perception. These two aspects may coincide in favorable conditions, where classic approaches such as the four-channel architecture ensures transparency of the control framework. In presence of substantial delays between the user and the slave, however, the stability-performance trade-off inherent to bilateral teleoperation deteriorates not only transparency, but also command. An alternative, unilateral approach is given by tele-impedance, which controls the slave-environment interaction by measuring and remotely replicating the user’s limb endpoint position and impedance. Not including force feedback to the operator, tele-impedance is absolutely robust to delays, while it completely lacks transparency.

This paper introduces a novel control framework which integrates a new, fully transparent, two-channel bilateral architecture with the tele-impedance paradigm. The result is a unified solution that mitigates problems of classical approaches, and provides the user with additional tools to modulate the slave robot’s physical interaction behavior, resulting in a better operator experience in spite of time inconsistencies. The validity and effectiveness of the proposed solution is demonstrated in terms of performance in the interaction tasks, of user fatigue and overall experience.

10abilateral10astability10aTeleoperation10atransparency10ausability1 aLaghi, Marco1 aAjoudani, Arash1 aCatalano, Manuel, G.1 aBicchi, Antonio uhttps://journals.sagepub.com/doi/10.1177/027836491989177301813nas a2200193 4500008003900000245006900039210006700108260000900175300001000184520122600194100001701420700002101437700002201458700002001480700002101500700002001521700002001541856005801561 2018 d00aShared-autonomy control for intuitive bimanual tele-manipulation0 aSharedautonomy control for intuitive bimanual telemanipulation bIEEE a1–93 a

Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user's dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.

1 aLaghi, Marco1 aMaimeri, Michele1 aMarchand, Mathieu1 aLeparoux, Clara1 aCatalano, Manuel1 aAjoudani, Arash1 aBicchi, Antonio uhttps://ieeexplore.ieee.org/abstract/document/8625047