電気触覚・運動感覚フィードバックが遠隔操作タスクに果たす役割の探求
Exploring the Role of Electro-Tactile and Kinesthetic Feedback in Telemanipulation Task
柔らかいピペットを遠隔操作する際に、運動感覚と皮膚感覚のマルチモーダル触覚フィードバックを提示するシステムを提案し、液体分注の精度と作業時間が大幅に改善することを示した。
著者: Daria Trinitatova, Miguel Altamirano Cabrera, Polina Ponomareva, Aleksey Fedoseev, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic feedback. However, a single contact point information is insufficient to detect the dynamically changing shape of soft objects. This paper proposes a novel telemanipulation system that provides kinesthetic and cutaneous stimuli to the user's hand to achieve accurate liquid dispensing by dexterously manipulating the deformable object (i.e., pipette). The experimental results revealed that the proposed approach to provide the user with multimodal haptic feedback considerably improves the quality of dosing with a remote pipette. Compared with pure visual feedback, the relative dosing error decreased by 66\% and task execution time decreased by 18\% when users manipulated the deformable pipette with a multimodal haptic interface in combination with visual feedback. The proposed technology can be potentially implemented in delicate dosing procedures during the antibody tests for COVID-19, chemical experiments, operation with organic materials, and telesurgery.
