Haptic feedback applications for Robonaut

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptacle. In the third experiment, we used Robonaut to perform a two‐arm task where a compliant ball was translated in the robot's workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

[1]  Jack Tigh Dennerlein,et al.  Force-feedback improves performance for steering and combined steering-targeting tasks , 2000, CHI.

[2]  P. Richard,et al.  Dextrous haptic interaction in virtual environments: human performance evaluations , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).

[3]  Blake Hannaford,et al.  Performance evaluation of a six-axis generalized force-reflecting teleoperator , 1991, IEEE Trans. Syst. Man Cybern..

[4]  J. W. Hill.  Study of modeling and evaluation of remote manipulation tasks with force feedback , 1979 .

[5]  J. V. Draper,et al.  The implications of force reflection for teleoperation in space , 1987 .

[6]  Ernst L. Leiss,et al.  Bisensory force feedback in telerobotics , 2001 .

[7]  Won S. Kim.  A new scheme of force reflecting control , 1992 .

[8]  Thomas B. Sheridan,et al.  Sensory Substitution for Force Feedback in Teleoperation , 1992 .

[9]  Jennifer Lisa Rochlis,et al.  Human factors and telerobotics : tools and approaches for designing remote robotic workstation displays , 2001 .

[10]  Ernst L. Leiss,et al.  Kinesthetic and visual force display for telerobotics , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[11]  William Harwin,et al.  Quantification of the effects of haptic feedback during motor skills tasks in a simulated environment , 2000 .

[12]  J. Edward Colgate,et al.  Effects of non-uniform environment damping on haptic perception and performance of aimed movements , 1995 .

[13]  Marcia Kilchenman O'Malley,et al.  The implications of surface stiffness for size identification and perceived surface hardness in haptic interfaces , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  William R. Ferrell,et al.  Remote manipulation with transmission delay. , 1965 .

[15]  Fredrik Rehnmark,et al.  Robonaut: NASA's Space Humanoid , 2000, IEEE Intell. Syst..