SubSense: 水中遠隔ロボティクスにおける没入型操作のためのVR触覚・運動フィードバック
SubSense: VR-Haptic and Motor Feedback for Immersive Control in Subsea Telerobotics
水中ROVの遠隔操作にVRと触覚フィードバックを統合し、繊細な作業での状況認識と操作性を向上させるフレームワークを提案・検証した。
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著者: Ruo Chen, David Blow, Adnan Abdullah, Md Jahidul Islam
分類: cs.RO
原文アブストラクト
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on low-resolution 2D camera feeds and lacks immersive and sensory feedback, which diminishes situational awareness in complex subsea environments. We propose SubSense -- a novel VR-Haptic framework incorporating a non-invasive feedback interface to an otherwise 1-DOF (degree of freedom) manipulator, which is paired with the teleoperator's glove to provide haptic feedback and grasp status. Additionally, our framework integrates end-to-end software for managing control inputs and displaying immersive camera views through a VR platform. We validate the system through comprehensive experiments and user studies, demonstrating its effectiveness over conventional teleoperation interfaces, particularly for delicate manipulation tasks. Our results highlight the potential of multisensory feedback in immersive virtual environments to significantly improve remote situational awareness and mission performance, offering more intuitive and accessible ROV operations in the field.
