Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures

In this article, we describe and demonstrate control algorithms for general motion constraints. These constraints are designed to enhance the accuracy and speed of a user manipulating in an environment with the assistance of a cooperative or telerobotic system. Our method uses a basis of preferred directions, created off-line or in real-time using sensor data, to generate virtual fixtures that may constrain the user to a curve, surface, orientation, etc. in space. Open loop virtual fixtures seek only to maintain user motion along preferred directions, whereas closed loop fixtures additionally guide the user toward a point, line, or surface. This article demonstrates and compares the effects of open and closed loop fixtures in both autonomous and humanmachine cases.