Skip to Main content Skip to Navigation
Journal articles

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abstract : Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically-linked master-slave manipulators still dominate the field. Nonetheless, there is a pressing need for more effective robotic solutions able to significantly speed up the decommissioning of legacy radioactive waste. This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment. A 3D scan of the scene is used to generate a set of potential grasp candidates on the objects at hand. These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects. The haptic feedback is designed to be smooth and continuous as the user switches from a grasp candidate to the next one, or from one object to another one, avoiding any discontinuity or abrupt changes. To validate our approach, we carried out two human-subject studies, enrolling 15 participants. We registered an average improvement of 20.8%, 20.1%, 32.5% in terms of completion time, linear trajectory, and perceived effectiveness, respectively, between the proposed approach and standard teleoperation.
Document type :
Journal articles
Complete list of metadatas

Cited literature [63 references]  Display  Hide  Download

https://hal.inria.fr/hal-02113206
Contributor : Claudio Pacchierotti <>
Submitted on : Sunday, April 28, 2019 - 11:34:23 AM
Last modification on : Friday, July 10, 2020 - 4:09:46 PM

Identifiers

Citation

Firas Abi-Farraj, Claudio Pacchierotti, Oleg Arenz, Gerhard Neumann, Paolo Robuffo Giordano. A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping. IEEE Transactions on Haptics (ToH), IEEE, 2019, pp.1-16. ⟨10.1109/TOH.2019.2913643⟩. ⟨hal-02113206⟩

Share

Metrics

Record views

149

Files downloads

414