Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic feedback. However, a single contact point information is insufficient to detect the dynamically changing shape of soft objects. This paper proposes a novel telemanipulation system that provides kinesthetic and cutaneous stimuli to the user's hand to achieve accurate liquid dispensing by dexterously manipulating the deformable object (i.e., pipette). The experimental results revealed that the proposed approach to provide the user with multimodal haptic feedback considerably improves the quality of dosing with a remote pipette. Compared with pure visual feedback, the relative dosing error decreased by 66\% and task execution time decreased by 18\% when users manipulated the deformable pipette with a multimodal haptic interface in combination with visual feedback. The proposed technology can be potentially implemented in delicate dosing procedures during the antibody tests for COVID-19, chemical experiments, operation with organic materials, and telesurgery.
翻译:机器人系统在精确和微妙的物体捕捉方面的远程操作需要高致密的偶然反馈,以获得关于捕捉的全面实时信息。在这种情况下,最常用的方法是使用感官反馈。然而,单一的联络点信息不足以检测软物体动态变化的形状。本文提议建立一个新型的远程控制系统,为用户提供运动美学和切口刺激,以便通过对变形物体(即管道)进行快速操纵来实现准确的液体喷射。实验结果显示,为用户提供多式联运随机反馈的拟议方法大大改进了用远程管子下药的质量。与纯视觉反馈相比,相对的剂量错误减少了66 ⁇,任务执行时间减少了18 ⁇ 。当用户将可变形管与多式杂交界面操作,与视觉反馈相结合时,拟议的技术可以在抗体测试COVID-19、化学实验、有机材料操作和远程外科手术期间,在微妙的剂量程序中实施。