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Classic telepresence approaches allow a human to interact with a remote or a virtual reality environment (VR) with force feedback. Coupling with a remote robot can be used to work in dangerous environments without the human being on-site. The coupling with a VR system can be used for training and verification of task sequences or robotic actions.
This paper presents a user study evaluating teleoperated grasping performance and perceived workload of the human operator in a shared autonomy setup when working with different assistance modes and hand kinematics. The hands of a humanoid robot are operated using two approaches: direct mapping of human finger motions (telemanipulation), and “open/close” commands in combination with online grasp planning...
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order...
The excretory organs of the freshwater polychaete Hypania invalida have been examined using scanning and transmission electron microscopy. Three pairs of macroscopically and ultrastructurally different nephridia are present in the thorax. Intersegmental septa in the thorax are absent, with the exception of a single diaphragm between second and third chaetiger. The first pair of nephridia is anterior...
This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller is generalized...
Telepresence-systems have the potential to take on an important role in on-orbit servicing scenarios. In comparison to manned missions, these systems offer a safer way to operate in outer space. One of the main goals of telepresence research is to learn whether immersive telepresence systems can achieve the efficiency of astronauts in typical mounting tasks, considering that astronauts' mobility is...
This video presents a telepresence system which enables a human operator to explore a remote environment by means of a multimodal man machine interface and rollin' JUSTIN as teleoperator. The man machine interface allows for bimanual, dexterous manipulation and, through two different operating modi of the man machine interface, wide area movement as well. A bimanual assembly task, consisting of grasping...
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