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Observer Design for Augmented Reality-based Teleoperation of Soft Robots

Jorge Francisco García-Samartín, Iago López Pérez, Emirhan Yolcu, Jaime del Cerro, Antonio Barrientos

TL;DR

An augmented reality interface for teleoperating soft robots and can be integrated into the control loop, demonstrating that augmented reality facilitates operator interaction with soft manipulators and can be integrated into the control loop.

Abstract

Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft robots mean that combining accurate and computationally efficient representations is very challenging. This paper presents an augmented reality interface for teleoperating these devices. The developed system consists of Microsoft HoloLens 2 glasses and a central computer responsible for calculations. Validation is performed on PETER, a highly modular pneumatic manipulator. Using data collected from sensors, the computer estimates the robot's position based on the physics of the virtual reality programme. Errors obtained are on the order of 5% of the robot's length, demonstrating that augmented reality facilitates operator interaction with soft manipulators and can be integrated into the control loop.

Observer Design for Augmented Reality-based Teleoperation of Soft Robots

TL;DR

An augmented reality interface for teleoperating soft robots and can be integrated into the control loop, demonstrating that augmented reality facilitates operator interaction with soft manipulators and can be integrated into the control loop.

Abstract

Although virtual and augmented reality are gaining traction as teleoperation tools for various types of robots, including manipulators and mobile robots, they are not being used for soft robots. The inherent difficulties of modelling soft robots mean that combining accurate and computationally efficient representations is very challenging. This paper presents an augmented reality interface for teleoperating these devices. The developed system consists of Microsoft HoloLens 2 glasses and a central computer responsible for calculations. Validation is performed on PETER, a highly modular pneumatic manipulator. Using data collected from sensors, the computer estimates the robot's position based on the physics of the virtual reality programme. Errors obtained are on the order of 5% of the robot's length, demonstrating that augmented reality facilitates operator interaction with soft manipulators and can be integrated into the control loop.
Paper Structure (9 sections, 5 equations, 8 figures, 1 table)

This paper contains 9 sections, 5 equations, 8 figures, 1 table.

Table of Contents

  1. Introduction
  2. Augmented Reality System
  3. System Overview
  4. PETER Manipulator
  5. PETER-H Interface
  6. PETER-DK Server
  7. Observer Design
  8. Results
  9. Conclusions

Figures (8)

  • Figure 1: System Architecture.
  • Figure 2: PETER Manipulator.
  • Figure 3: PETER-H Interface with PETER-DK on the back.
  • Figure 4: PETER-H Menu. The available options are: toggle control sliders, edit geometric parameters, drag the PETER model, fix the PETER model and connect to PETER-DK.
  • Figure 5: PETER-H State Diagram.
  • ...and 3 more figures