RBE PhD Dissertation Proposal
Raagini Rameshwar
Intuitive Remote Teleoperation of a Robotic Arm and Gripper with Soft Pneumatic Haptic Feedback
Monday, April 17th
12:00 PM - 2:00 PM
Abstract: Robot teleoperation is a transformative field of study that can enable workers to safely perform tasks in dangerous environments. Robot arm teleoperation is particularly suited to help remotely perform delicate or intricate manipulation tasks in fields like medicine, space and ocean exploration, and hazardous waste management. The quality and usability of a teleoperation system, particularly a robot arm teleoperation system, depends on how much the user is immersed in the system and feels that the robot manipulator is an extension of their own body. We explore this sense of immersion, or "telepresence", through the mapping scheme between the human user and robot manipulator, and through the use of realistic haptic feedback. In this proposal, I present our work towards an intuitive teleoperation system with safe, realistic force feedback for intuitive control of a robotic arm and gripper. The system interfaces with the user via a lightweight wearable motion capture system and provides haptic feedback through soft pneumatic devices. I will present our several stages of research, development, and user testing, as well as the broader impacts of our research.
Advisor:
Professor Cagdas Onal, Worcester Polytechnic Institute (WPI)
Committee:
Professor Berk Calli, Worcester Polytechnic Institute (WPI)
Professor Jing Xiao, Worcester Polytechnic Institute (WPI)
Yunus Telliel, IMGD