Teleloperation of field mobile manipulator with wearable Haptic-based Multi-Modal user interface and its application to explosive ordnance disposal |
| |
Authors: | Dongseok Ryu Chang-Soon Hwang Sungchul Kang Munsang Kim Jae-Bok Song |
| |
Affiliation: | (1) Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea Department of Mechanical Engineering, Korea University, Seoul, Korea;(2) Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, Korea;(3) Department of Mechanical Engineering, Korea University, Seoul, Korea |
| |
Abstract: | This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system.
Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance
disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions,
accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To
cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be
wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave
robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research
provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of
a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the
validity of the proposed wearable multi-modal user interface. |
| |
Keywords: | Wearable Device Multi-modal Interface Field Robot Teleoperation Haptics |
本文献已被 SpringerLink 等数据库收录! |
|