Field Robot Teleoperation via Vibrotactile User Interface
- Field Robot Teleoperation via Vibrotactile User Interface
- 양기훈; 이우섭; 강성철; 김문상
- Issue Date
- , p22
- In order to prevent dangerous situations in the
demining process, a heavy class mobile robot system should be
controlled via teleoperation. An attempt to combine a tactile
display with an input device for teleoperation was conducted.
A new 6DOF bilateral haptic device, which provides a spatial
sensation on the handle using vibrotactile display, is proposed
in this research. The sphere-shaped handle is designed to be
covered with several pieces of vibrating panels. When a specific
panel is activated, the user perceives the spatial location and
the direction of the vibrotactile stimulus during control
operation. We introduce the design of the proposed device,
including the selection guide of the dimension, location, and
number of vibrotactile panels. The method for combination of
vibrotactile stimulus and the way to achieve fine resolution
with small number of tactors are discussed. Experimental
results show that the users can reliably perceive the spatial and
directional information using the proposed device. A field
robot that can be controlled by the developed haptic device was
also simulated in the virtual environment.
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