3,452 research outputs found
Skill-based human-robot cooperation in tele-operated path tracking
This work proposes a shared-control tele-operation framework that adapts its cooperative properties to the estimated skill level of the operator. It is hypothesized that different aspects of an operatorĂą\u80\u99s performance in executing a tele-operated path tracking task can be assessed through conventional machine learning methods using motion-based and task-related features. To identify performance measures that capture motor skills linked to the studied task, an experiment is conducted where users new to tele-operation, practice towards motor skill proficiency in 7 training sessions. A set of classifiers are then learned from the acquired data and selected features, which can generate a skill profile that comprises estimations of userĂą\u80\u99s various competences. Skill profiles are exploited to modify the behavior of the assistive robotic system accordingly with the objective of enhancing user experience by preventing unnecessary restriction for skilled users. A second experiment is implemented in which novice and expert users execute the path tracking on different pathways while being assisted by the robot according to their estimated skill profiles. Results validate the skill estimation method and hint at feasibility of shared-control customization in tele-operated path tracking
Integrating Olfaction in a Robotic Telepresence Loop
In this work we propose enhancing a typical
robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of applications where robotics telepresence can be applied, including those related to the detection of volatile chemical substances (e.g. land-mine detection, explosive deactivation, operations
in noxious environments, etc.). Concretely, we analyze how the sense of smell can be integrated in the telepresence loop, covering the digitization of the gases and wind flow
present in the remote environment, the transmission through
the communication network, and their display at the user location. Experiments under different environmental conditions are presented to validate the proposed telepresence system when
localizing a gas emission leak at the remote environment.Universidad de MĂĄlaga. Campus de Excelencia Internacional AndalucĂa Tech
Computer- and robot-assisted Medical Intervention
Medical robotics includes assistive devices used by the physician in order to
make his/her diagnostic or therapeutic practices easier and more efficient.
This chapter focuses on such systems. It introduces the general field of
Computer-Assisted Medical Interventions, its aims, its different components and
describes the place of robots in that context. The evolutions in terms of
general design and control paradigms in the development of medical robots are
presented and issues specific to that application domain are discussed. A view
of existing systems, on-going developments and future trends is given. A
case-study is detailed. Other types of robotic help in the medical environment
(such as for assisting a handicapped person, for rehabilitation of a patient or
for replacement of some damaged/suppressed limbs or organs) are out of the
scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00
Business Case and Technology Analysis for 5G Low Latency Applications
A large number of new consumer and industrial applications are likely to
change the classic operator's business models and provide a wide range of new
markets to enter. This article analyses the most relevant 5G use cases that
require ultra-low latency, from both technical and business perspectives. Low
latency services pose challenging requirements to the network, and to fulfill
them operators need to invest in costly changes in their network. In this
sense, it is not clear whether such investments are going to be amortized with
these new business models. In light of this, specific applications and
requirements are described and the potential market benefits for operators are
analysed. Conclusions show that operators have clear opportunities to add value
and position themselves strongly with the increasing number of services to be
provided by 5G.Comment: 18 pages, 5 figure
Remote Control of Mobile Robot using the Virtual Reality
In this paper we present the simulation and manipulation of teleoperation system for remote control of mobile robot using the Virtual Reality (VR). The objective of this work is to allow the operator to control and supervise a unicycle type mobile robot. In this research we followed three ways: The use of articulated robotic mobile on the Web, the design of remote environment for the experimentation using the network for the mobile robot and the architecture of control is proposed to facilitate the piloting of the robot. This work proposes a hardware and software architecture based on communication and information technologies to control the virtual robot to improve the control towards the remote robot. A path planning method is integrated to the remote control system. Results show the real possibilities offered by this manipulation, in order to follow a trajectory of the robot and to create applications with a distance access to facilities through networks like the Internet and wireless
Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical
Robotics have focused on rigid and non deformable anatomical structures.
Nowadays, special attention is paid to soft tissues, raising complex issues due
to their mobility and deformation. Mini-invasive digestive surgery was probably
one of the first fields where soft tissues were handled through the development
of simulators, tracking of anatomical structures and specific assistance
robots. However, other clinical domains, for instance urology, are concerned.
Indeed, laparoscopic surgery, new tumour destruction techniques (e.g. HIFU,
radiofrequency, or cryoablation), increasingly early detection of cancer, and
use of interventional and diagnostic imaging modalities, recently opened new
challenges to the urologist and scientists involved in CAMI. This resulted in
the last five years in a very significant increase of research and developments
of computer-aided urology systems. In this paper, we propose a description of
the main problems related to computer-aided diagnostic and therapy of soft
tissues and give a survey of the different types of assistance offered to the
urologist: robotization, image fusion, surgical navigation. Both research
projects and operational industrial systems are discussed
Evaluation of haptic guidance virtual fixtures and 3D visualization methods in telemanipulationâa user study
© 2019, The Author(s). This work presents a user-study evaluation of various visual and haptic feedback modes on a real telemanipulation platform. Of particular interest is the potential for haptic guidance virtual fixtures and 3D-mapping techniques to enhance efficiency and awareness in a simple teleoperated valve turn task. An RGB-Depth camera is used to gather real-time color and geometric data of the remote scene, and the operator is presented with either a monocular color video stream, a 3D-mapping voxel representation of the remote scene, or the ability to place a haptic guidance virtual fixture to help complete the telemanipulation task. The efficacy of the feedback modes is then explored experimentally through a user study, and the different modes are compared on the basis of objective and subjective metrics. Despite the simplistic task and numerous evaluation metrics, results show that the haptic virtual fixture resulted in significantly better collision avoidance compared to 3D visualization alone. Anticipated performance enhancements were also observed moving from 2D to 3D visualization. Remaining comparisons lead to exploratory inferences that inform future direction for focused and statistically significant studies
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