ICRA24 Poster

2024

1. ICRA

   Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems

   Davide Torielli, Leonardo Franco, Maria Pozzi, Luca Muratore, Monica Malvezzi, Nikos Tsagarakis, and Domenico Prattichizzo

   In IEEE International Conference on Robotics and Automation, 2024

   Abs Bib Video Poster

   The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired task. In this context, developing an easy-to-learn and easy-to-use human-robot interface is paramount. Recent works introduced a novel teleoperation concept, which relies on a virtual physical interaction interface between the human operator and the remote robot equivalent to a "Marionette" control, but whose feedback was limited to only visual feedback on the human side. In this paper, we propose extending the "Marionette" interface by adding a wearable haptic interface to cope with the limitations given by the previous work. Leveraging the additional haptic feedback modality, the human operator gains full sensorimotor control over the robot, and the awareness about the robot’s response and interactions with the environment is greatly improved. We evaluated the proposed interface and the related teleoperation framework with naive users, assessing the teleoperation performance and the user experience with and without haptic feedback. The conducted experiments consisted in a loco-manipulation mission with the CENTAURO robot, a hybrid leg-wheel quadruped with a humanoid dual-arm upper body.

   @inproceedings{TPO4,
     title = {Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems},
     author = {Torielli, Davide and Franco, Leonardo and Pozzi, Maria and Muratore, Luca and Malvezzi, Monica and Tsagarakis, Nikos and Prattichizzo, Domenico},
     year = {2024},
     booktitle = {{IEEE} International Conference on Robotics and Automation},
     volume = {},
     number = {},
     pages = {15670-15676},
     url = {https://ieeexplore.ieee.org/abstract/document/10610788},
     keywords = {Visualization;Humanoid robots;Robot sensing systems;User experience;Haptic interfaces;Sensors;Safety},
     doi = {10.1109/ICRA57147.2024.10610788},
   }