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JRM Vol.29 No.2 pp. 381-394
doi: 10.20965/jrm.2017.p0381
(2017)

Paper:

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Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping

Zdeněk Materna*, Michal Španěl*, Marcus Mast**, Vítězslav Beran*, Florian Weisshardt***, Michael Burmester**, and Pavel Smrž*

*Centre of Excellence IT4Innovations, Faculty of Information Technology, Brno University of Technology
Bozetechova 1/2, 612 66 Brno, Czech Republic

**Information Experience and Design Research Group, Stuttgart Media University
Nobelstr. 10, 70569 Stuttgart, Germany

***Fraunhofer Institute for Manufacturing Engineering and Automation IPA
Postfach 800469, 70504 Stuttgart, Germany

Received:
December 17, 2015
Accepted:
December 8, 2016
Published:
April 20, 2017
Creative Commons License
Keywords:
human-robot interaction, user interface, teleoperation, remote manipulation
Abstract
Despite remarkable progress of service robotics in recent years, it seems that a fully autonomous robot which would be able to solve everyday household tasks in a safe and reliable manner is still unachievable. Under certain circumstances, a robot’s abilities might be supported by a remote operator. In order to allow such support, we present a user interface for a semi-autonomous assistive robot allowing a non-expert user to quickly asses the situation on a remote site and carry out subtasks which cannot be finished automatically. The user interface is based on a mixed reality 3D environment and fused sensor data, which provides a high level of situational and spatial awareness for teleoperation as well as for telemanipulation. Robot control is based on low-cost commodity hardware, optionally including a 3D mouse and stereoscopic display. The user interface was developed in a human-centered design process and continuously improved based on the results of five evaluations with a total of 81 novice users.
User-assisted pick and place task

User-assisted pick and place task

Cite this article as:
Z. Materna, M. Španěl, M. Mast, V. Beran, F. Weisshardt, M. Burmester, and P. Smrž, “Teleoperating Assistive Robots: A Novel User Interface Relying on Semi-Autonomy and 3D Environment Mapping,” J. Robot. Mechatron., Vol.29 No.2, pp. 381-394, 2017.
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