A robot arm/hand teleoperation system with telepresence and shared control

Abstract

This paper describes a master-slave teleoperation system which is developed to evaluate the effectiveness of teleopresence in telerobotics applications. The operator wears a dataglove augmented with an arm-grounded force feedback device to control the dexterous hand and utilizes a spaceball to control robot arm. Contact forces measured by the finger sensors can be feedback to the operator and visual telepresence systems collect the remote operation scenes and display to the operator by a stereo helmet. A primitive autonomous grasp system based on parallel joint torque/position control is developed. The experimental results show that this teleoperation system is intuitive and productive and the primitive autonomous grasp is feasible and efficient