Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks

Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance be performed autonomously by a robotic system, specially when the objects involved moving. In many applications, human-robot physical interaction can used for teaching, learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation very useful user and robot cannot share same workspace due hazardous environments, inaccessible locations, or because of ergonomic issues. sense, article introduces novel dual-arm architecture with haptic visual feedback enhance operator immersion treatment tasks. Two task-based assistance systems also proposed control each manipulator individually. To validate remote assisted control, some usability tests have been carried out using Baxter, collaborative robot. After analysing several benchmark metrics, results show that method helps reduce task duration improves overall performance teleoperation.