Perception and Action Assistance for the Remote Control of Robotic Manipulation
Abstract: Teleoperation in healthcare allows nurses to safely care for patients, addressing nursing shortages and reaching remote locations. Motion mapping interfaces prove effective for teleoperating robots, offering intuitive control. In this proposal, effective control assistance design ideologies for motion mapping interfaces will be presented. These include presenting effective methods of motion separation to eliminate unintended motions, motion scaling to perform precise actions and shared control autonomy paradigms to reduce fatigue causing actions. The proposal then discusses the design of perception assistance with Augmented Reality cues for varying levels of autonomy. It outlines a systematic approach to identify AR cues that provide the operator with optimal information efficiency and transparency of autonomy. The findings of these studies address a gap in research that provides design ideologies for robot control and perception assistance for remote manipulation on a robot platform.
Advisor: Prof. Jane Li
Committee: Prof. Jing Xiao, Prof. Berk Calli. Prof. Carlo Pinciroli, Prof. Karen Troy
Zoom Link: https://wpi.zoom.us/j/91668764759