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

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 dela...

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Autores principales: Hulin, Thomas, Panzirsch, Michael, Singh, Harsimran, Coelho, Andre, Balachandran, Ribin, Pereira, Aaron, Weber, Bernhard M., Bechtel, Nicolai, Riecke, Cornelia, Brunner, Bernhard, Lii, Neal Y., Klodmann, Julian, Hellings, Anja, Hagmann, Katharina, Quere, Gabriel, Bauer, Adrian S., Sierotowicz, Marek, Lampariello, Roberto, Vogel, Jörn, Dietrich, Alexander, Leidner, Daniel, Ott, Christian, Hirzinger, Gerd, Albu-Schäffer, Alin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8232524/
https://www.ncbi.nlm.nih.gov/pubmed/34179105
http://dx.doi.org/10.3389/frobt.2021.611251
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author Hulin, Thomas
Panzirsch, Michael
Singh, Harsimran
Coelho, Andre
Balachandran, Ribin
Pereira, Aaron
Weber, Bernhard M.
Bechtel, Nicolai
Riecke, Cornelia
Brunner, Bernhard
Lii, Neal Y.
Klodmann, Julian
Hellings, Anja
Hagmann, Katharina
Quere, Gabriel
Bauer, Adrian S.
Sierotowicz, Marek
Lampariello, Roberto
Vogel, Jörn
Dietrich, Alexander
Leidner, Daniel
Ott, Christian
Hirzinger, Gerd
Albu-Schäffer, Alin
author_facet Hulin, Thomas
Panzirsch, Michael
Singh, Harsimran
Coelho, Andre
Balachandran, Ribin
Pereira, Aaron
Weber, Bernhard M.
Bechtel, Nicolai
Riecke, Cornelia
Brunner, Bernhard
Lii, Neal Y.
Klodmann, Julian
Hellings, Anja
Hagmann, Katharina
Quere, Gabriel
Bauer, Adrian S.
Sierotowicz, Marek
Lampariello, Roberto
Vogel, Jörn
Dietrich, Alexander
Leidner, Daniel
Ott, Christian
Hirzinger, Gerd
Albu-Schäffer, Alin
author_sort Hulin, Thomas
collection PubMed
description 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.
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spelling pubmed-82325242021-06-26 Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases Hulin, Thomas Panzirsch, Michael Singh, Harsimran Coelho, Andre Balachandran, Ribin Pereira, Aaron Weber, Bernhard M. Bechtel, Nicolai Riecke, Cornelia Brunner, Bernhard Lii, Neal Y. Klodmann, Julian Hellings, Anja Hagmann, Katharina Quere, Gabriel Bauer, Adrian S. Sierotowicz, Marek Lampariello, Roberto Vogel, Jörn Dietrich, Alexander Leidner, Daniel Ott, Christian Hirzinger, Gerd Albu-Schäffer, Alin Front Robot AI Robotics and AI 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. Frontiers Media S.A. 2021-06-11 /pmc/articles/PMC8232524/ /pubmed/34179105 http://dx.doi.org/10.3389/frobt.2021.611251 Text en Copyright © 2021 Hulin, Panzirsch, Singh, Coelho, Balachandran, Pereira, Weber, Bechtel, Riecke, Brunner, Lii, Klodmann, Hellings, Hagmann, Quere, Bauer, Sierotowicz, Lampariello, Vogel, Dietrich, Leidner, Ott, Hirzinger and Albu-Schäffer. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Hulin, Thomas
Panzirsch, Michael
Singh, Harsimran
Coelho, Andre
Balachandran, Ribin
Pereira, Aaron
Weber, Bernhard M.
Bechtel, Nicolai
Riecke, Cornelia
Brunner, Bernhard
Lii, Neal Y.
Klodmann, Julian
Hellings, Anja
Hagmann, Katharina
Quere, Gabriel
Bauer, Adrian S.
Sierotowicz, Marek
Lampariello, Roberto
Vogel, Jörn
Dietrich, Alexander
Leidner, Daniel
Ott, Christian
Hirzinger, Gerd
Albu-Schäffer, Alin
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title_full Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title_fullStr Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title_full_unstemmed Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title_short Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
title_sort model-augmented haptic telemanipulation: concept, retrospective overview, and current use cases
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8232524/
https://www.ncbi.nlm.nih.gov/pubmed/34179105
http://dx.doi.org/10.3389/frobt.2021.611251
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