Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master

Singh, Jayant; Srinivasan, Aravinda Ramakrishnan; Neumann, Gerhard; Kucukyilmaz, Ayse

doi:10.1109/toh.2020.2971485

All Outputs (4)

A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer (2020)
Journal Article

Haptics provides a natural and intuitive channel of communication during the interaction of two humans in complex physical tasks, such as joint object transportation. However, despite the utmost importance of touch in physical interactions, the use o... Read More about A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer.

Intelligent control of exoskeletons through a novel learning-from-demonstration method (2020)
Presentation / Conference

We present a novel concept that enables the intelligent and adaptive control of exoskeletons through exploiting our state-of-the-art learning from demonstration (LfD) method, namely Conditional Neural Movement Primitives (CNMPs) [1], on our integrate... Read More about Intelligent control of exoskeletons through a novel learning-from-demonstration method.

The Goods and Bads in Dyadic Co-Manipulation: Identifying Conflict-Driven Interaction Behaviours in Human-Human Collaboration (2020)
Conference Proceeding

One of the challenges in collaborative human-robot object transfer is the robot’s ability to infer about the interaction state and adapt to it in real time. During joint object transfer humans communicate about the interaction states through mul- tip... Read More about The Goods and Bads in Dyadic Co-Manipulation: Identifying Conflict-Driven Interaction Behaviours in Human-Human Collaboration.

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master (2020)
Journal Article

In this study, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recen... Read More about Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master.