Force reflection and manipulation for a VR-based telerobotic system

This paper reports the use of virtual reality (VR) and force reflection in a telerobotic system developed in our laboratory. Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments, such as nuclear plants or outer space. However, enabling the operator to feel physically present at the remote site and to sense what the robot touches are challenges to overcome. Recent gains in the capabilities and popularity of virtual reality used to generate realistic telepresence allowed us to develop a telerobotic system in a virtual environment. We also equipped the system with force-reflection capability needed to tackle tasks requiring refinement and responsiveness. To evaluate the effects of the virtual reality and force-reflection techniques on teleoperation, we designed a series of experiments, in which these techniques were applied to tasks involving force manipulation.