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  1. Article ; Online: Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

    Neal Y. Lii / Aaron Pereira / Julian Dietl / Georg Stillfried / Annika Schmidt / Hadi Beik-Mohammadi / Thomas Baker / Annika Maier / Benedikt Pleintinger / Zhaopeng Chen / Amal Elawad / Lauren Mentzer / Austin Pineault / Philipp Reisich / Alin Albu-Schäffer

    Frontiers in Robotics and AI, Vol

    2022  Volume 8

    Abstract: Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through ...

    Abstract Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.
    Keywords haptic user interface ; hand exoskeletons ; human–machine interface (HMI) ; human–robot interface (HRI) ; teleoperation ; Mechanical engineering and machinery ; TJ1-1570 ; Electronic computers. Computer science ; QA75.5-76.95
    Subject code 629
    Language English
    Publishing date 2022-03-01T00:00:00Z
    Publisher Frontiers Media S.A.
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

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  2. Article ; Online: Model-Augmented Haptic Telemanipulation

    Thomas Hulin / Michael Panzirsch / Harsimran Singh / Andre Coelho / Ribin Balachandran / Aaron Pereira / Bernhard M. Weber / Nicolai Bechtel / Cornelia Riecke / Bernhard Brunner / Neal Y. Lii / Julian Klodmann / Anja Hellings / Katharina Hagmann / Gabriel Quere / Adrian S. Bauer / Marek Sierotowicz / Roberto Lampariello / Jörn Vogel /
    Alexander Dietrich / Daniel Leidner / Christian Ott / Gerd Hirzinger / Alin Albu-Schäffer

    Frontiers in Robotics and AI, Vol

    Concept, Retrospective Overview, and Current Use Cases

    2021  Volume 8

    Abstract: Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and ... ...

    Abstract Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.
    Keywords telerobotics ; model-augmented telemanipulation ; shared control ; shared autonomy ; haptic constraints ; Mechanical engineering and machinery ; TJ1-1570 ; Electronic computers. Computer science ; QA75.5-76.95
    Language English
    Publishing date 2021-06-01T00:00:00Z
    Publisher Frontiers Media S.A.
    Document type Article ; Online
    Database BASE - Bielefeld Academic Search Engine (life sciences selection)

    Full text online

    More links

    Kategorien

    Inter-library loan at ZB MED

    Your chosen title can be delivered directly to ZB MED Cologne location if you are registered as a user at ZB MED Cologne.

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