ABSTRACT
This research shows the development of a teleoperation system with an assistive robot (NAO) through a Kinect V2 sensor, a set of Meta Quest virtual reality glasses, and Nintendo Switch controllers (Joycons), with the use of the Robot Operating System (ROS) framework to implement the communication between devices. In this paper, two interchangeable operating models are proposed. An exclusive controller is used to control the robot's movement to perform assignments that require long-distance travel. Another teleoperation protocol uses the skeleton joints information readings by the Kinect sensor, the orientation of the Meta Quest, and the button press and thumbstick movements of the Joycons to control the arm joints and head of the assistive robot, and its movement in a limited area. They give image feedback to the operator in the VR glasses in a first-person perspective and retrieve the user's voice to be spoken by the assistive robot. Results are promising and can be used for educational and therapeutic purposes.
ABSTRACT
The constant growth of pathologies affecting human mobility has led to developing of different assistive devices to provide physical and cognitive assistance. Smart walkers are a particular type of these devices since they integrate navigation systems, path-following algorithms, and user interaction modules to ensure natural and intuitive interaction. Although these functionalities are often implemented in rehabilitation scenarios, there is a need to actively involve the healthcare professionals in the interaction loop while guaranteeing safety for them and patients. This work presents the validation of two visual feedback strategies for the teleoperation of a simulated robotic walker during an assisted navigation task. For this purpose, a group of 14 clinicians from the rehabilitation area formed the validation group. A simple path-following task was proposed, and the feedback strategies were assessed through the kinematic estimation error (KTE) and a usability survey. A KTE of 0.28 m was obtained for the feedback strategy on the joystick. Additionally, significant differences were found through a Mann-Whitney-Wilcoxon test for the perception of behavior and confidence towards the joystick according to the modes of interaction (p-values of 0.04 and 0.01, respectively). The use of visual feedback with this tool contributes to research areas such as remote management of therapies and monitoring rehabilitation of people's mobility.
Subject(s)
Robotics , Self-Help Devices , Feedback, Sensory , Gait , Humans , User-Computer Interface , WalkersABSTRACT
Teleoperation virtual platforms allow people to send their skills and capacities into machines located in either relative close (few meters away) or far (different continents) locations. With the use of lightweight protocols, people can remotely control the actions and movements of robots so they can avoid physical interaction with dangerous or risky places. Oil and gas well-pads stations are working zones considered hazardous due to the various chemical substances used in their daily processes. This characteristic makes these places the perfect candidates for the implementation of teleoperation solutions in order to reduce the direct interaction of humans with different chemicals and risky situations. The following investigation focuses on the development of a base teleoperation scheme to perform inspection and maintenance tasks in the inside one of these hydrocarbon facilities. The proposed system aims to generate an easily scalable teleoperation solution using distributed control schemes and a lightweight communication protocol to remotely manipulate a KUKA mobile manipulator. As the first stage of this investigation, the main result focuses on the development of the generic control and communication functions that allow the physical testing of the system using a KUKA YouBOT mobile manipulator and the help of a qualified operator of the station.
ABSTRACT
Teleoperation had become one of the most prolific areas of research due to the great number of applications in which the remote operation paradigm can be applied. Teleoperation is made from several disciplines, areas or techniques, ranging from communications to systems control and from virtual reality to digital signal processing. Hence, individual advancements in these areas could be applied to developments in teleoperation systems. This article presents a compilation of important terms and concepts. It also presents a compilation of the state of the art in teleoperation systems, with special emphasis in telesurgery applications and related research studies in the area comprising image processing and cooperative robotics, which have been used to increase the effectiveness in telemedicine systems and to increase the quality of surgical procedures.
La teleoperación se ha convertido en una de las áreas de investigación más prolíficas, debido al gran número de aplicaciones en las que se puede aplicar el paradigma de operación remota. La teleoperación está conformada de varias disciplinas, áreas o técnicas, desde comunicaciones hasta control de sistemas y desde realidad virtual hasta procesamiento de señales digitales. Así, avances individuales en estas áreas podrían ser aplicados a la evolución de los sistemas de teleoperación. En este artículo se presenta una compilación de términos y conceptos importantes en el área. También se presenta una recopilación de los más recientes avances en sistemas de teleoperación, haciendo un especial énfasis en la telecirugía y en las investigaciones en esta área que durante los últimos años, hacen uso del procesamiento de imágenes y de la robótica cooperativa para aumentar la efectividad de los sistemas de telemedicina con el fin de incrementar la calidad de los procedimientos quirúrgicos.
A teleoperação tornou-se uma das áreas mais prolíficas de pesquisa, devido ao grande número de aplicações em que se pode aplicar o paradigma de operação remota. A teleoperação consiste em várias disciplinas, áreas ou técnicas, desde comunicação até controle de sistemas e desde realidade virtual até processamento de sinal digital. Assim, o progresso individual nestas áreas pode ser aplicado ao desenvolvimento de sistemas de teleoperação. Este artigo fornece uma compilação de termos e conceitos importantes apresentados na área. Também apresenta-se uma coleção dos mais recentes avanços nos sistemas de teleoperação, com especial ênfase na telesurgery e investigação nesta área nos últimos anos, fazendo uso de processamento de imagens e robótica cooperativa para aumentar a eficácia sistemas de telemedicina, a fim de aumentar a qualidade de procedimentos cirúrgicos.