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A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abi-Farraj, Firas ; Pacchierotti, Claudio ; Arenz, Oleg ; Neumann, Gerhard ; Robuffo Giordano, Paolo (2022):
A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping. (Postprint)
In: IEEE Transactions on Haptics, 13 (2), pp. 270-285. IEEE, ISSN 1939-1412, e-ISSN 2329-4051,
DOI: 10.26083/tuprints-00022928,

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Item Type: Article
Origin: Secondary publication service
Status: Postprint
Title: A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping
Language: English

Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically linked master-slave manipulators still dominate the field. Nonetheless, there is a pressing need for more effective robotic solutions able to significantly speed up the decommissioning of legacy radioactive waste. This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment. A three-dimensional scan of the scene is used to generate a set of potential grasp candidates on the objects at hand. These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects. The haptic feedback is designed to be smooth and continuous as the user switches from a grasp candidate to the next one, or from one object to another one, avoiding any discontinuity or abrupt changes. To validate our approach, we carried out two human-subject studies, enrolling 15 participants. We registered an average improvement of 20.8%, 20.1%, and 32.5% in terms of completion time, linear trajectory, and perceived effectiveness, respectively, between the proposed approach and standard teleoperation.

Journal or Publication Title: IEEE Transactions on Haptics
Volume of the journal: 13
Issue Number: 2
Place of Publication: Darmstadt
Publisher: IEEE
Collation: 17 Seiten
Uncontrolled Keywords: Grasping, Task analysis, Manipulators, Grippers, Service robots, Shared control, teleoperation, active constraints, virtual fixtures, grasping
Classification DDC: 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik
Divisions: 20 Department of Computer Science > Intelligent Autonomous Systems
Date Deposited: 25 Nov 2022 12:50
Last Modified: 13 Jan 2023 09:10
DOI: 10.26083/tuprints-00022928
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-229289
Additional Information:

Video: https://t1p.de/5d4ju

The video shows the experimental setup along with a demonstration of the proposed architecture highlighting the different control modes.

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/22928
PPN: 503603996
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