[On-going project] Concept:
This study introduces a novel VR-based teleoperation system that integrates hand tracking and haptic feedback to address the limitations of traditional robot programming methods, particularly in hazardous environments. The system integrates a standalone VR headset with a vibrotactile feedback glove and a collaborative robot arm. It leverages a game development engine to seamlessly integrate these diverse devices and create an immersive virtual environment. Key features include real-time hand tracking, workspace calibration, and adaptive controls to ensure seamless coordination between virtual and real robot workspaces. The research focuses on enhancing user interaction through various control algorithms, including impedance control and Adaptive Damped Least Squares (A-DLS), to enhance operational stability and precision.
User hand and cube synchronization (Right) Virtual cube for hand synchronization.
The proposed robot control strategies near singular points, illustrating improved stability with impedance control and haptic feedback (Treatment #1) and application of manipulability modification (Treatment #2)
[On-going project] Concept:
This study introduces a novel VR-based teleoperation system that integrates hand tracking and haptic feedback to address the limitations of traditional robot programming methods, particularly in hazardous environments. The system integrates a standalone VR headset with a vibrotactile feedback glove and a collaborative robot arm. It leverages a game development engine to seamlessly integrate these diverse devices and create an immersive virtual environment. Key features include real-time hand tracking, workspace calibration, and adaptive controls to ensure seamless coordination between virtual and real robot workspaces. The research focuses on enhancing user interaction through various control algorithms, including impedance control and Adaptive Damped Least Squares (A-DLS), to enhance operational stability and precision.
User hand and cube synchronization (Right) Virtual cube for hand synchronization.
The proposed robot control strategies near singular points, illustrating improved stability with impedance control and haptic feedback (Treatment #1) and application of manipulability modification (Treatment #2)