Vision-Force Interface for Path Specification in Tele-Manipulation

This work presents a novel vision-force based interface; allowing a local operator to visually specify a path constraint to a remote robot manipulator. By using our interface the operator is able to control a 7-DOF arm with only 2-DOF. Our interface aims to reduce task complexity and operator cognitive load. We illustrate our approach with 2 mock-up examples: 1) Closing a steam valve, 2) Gluing a T PVC pipe.

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