Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results

This paper presents a novel approach for performing disposal of explosive ordnances by application of bimanual haptic telepresent control technology. For improved task execution the proposed system enables an operator to perceive multimodal feedback, especially de- tailed kinesthetic feedback, from a remote task environment. Details of a developed experimental setup, comprising a two-handed human system interface and a corresponding two-arm teleoperator, are reported. In particular a novel structure adapting architecture for control of the display and manipulator is introduced. Human-system performance is enhanced by means of stereo visualization of the remote task environment with overlayed Augmented Reality assis- tance. In addition, an algorithm for avoidance of dangerous manipulator configurations is supported by augmented force feedback. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing execution of demining operations in a remote environment