Bilateral Tactile-Based Telerobotics Interface for Blind Objects Reconstruction

Gabriele Giudici

Keywords: Teleoperation, Robotics, Tactile Sensing, Haptic Feedback, Robotics Manipulation

TL;DR: my work concerns the description of a multi-robotic interface for the characterization of objects in hidden workspaces

Abstract:

In this pilot work, we present a leader-follower paradigm-based haptic robotic system. This system is designed by combining two leader devices, which enables the human operator to
directly impact the control variables used to simultaneously operate a robotic arm and hand on the follower side.
Tactile sensors are mounted on the four fingers of the robotic hand to gather information on the forces exerted during experiments involving the manipulation of objects or surfaces. The measured force information is then rendered to the user in the form of haptic feedback, which improves the performance of the human operator by increasing transparency and decreasing physical and mental fatigue during experiments. The goal of using this robotic system is to demonstrate the ability to examine and recreate real-time scenes by identifying surfaces and objects during blind teleoperation experiments, i.e., without any visual feedback on the workspace.
Along with contributing to blind teleoperation studies we also aim to learn further about how individuals manoeuvre hidden spaces and recognise items in order to complete challenging tasks.

Confirmation: I am a student and I would like to be considered for the funding award.