Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments

Mihail Teodorescu; Lucian Milea; Monica Dascalu; Dan Coroama

doi:doi:10.11648/j.ijass.20130105.11

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Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments

Mihail Teodorescu, Lucian Milea, Monica Dascalu, Dan Coroama

Published in International Journal of Astrophysics and Space Science (Volume 1, Issue 5)

Received: 10 October 2013 Published: 30 November 2013

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Abstract

The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.

Published in	International Journal of Astrophysics and Space Science (Volume 1, Issue 5)
DOI	10.11648/j.ijass.20130105.11
Page(s)	64-69
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2013. Published by Science Publishing Group

Keywords

Robotic Hand, Space Teleoperation, Telepresence, 3D Vision, Haptic Feedback, Hazardous Environments, Multisensory Feedback

References

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[2]	K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger, Robotic On-Orbit Servicing - DLR's Experience and Perspective. In proc. of the International Conference on Intel ligent Robots and Systems (IROS), Peking, China, 2006
[3]	Sommer, B. (2003). Automation and Robotics in the German Space Program - Unmanned on-Orbit Servicing (OOS) & the TECSAS Mission. In proc. of 55th International Astronautical Congress, Vancouver, Canada, Oct. 2004
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[5]	Eduard Franti, Gheorghe Stefan, Paul Schiopu, Tiberiu Boros, Anca Plavitu, Intelligent control system for artificial arms configuration, Published in Proceedings of the 5th European conference on European computing conference, Pages 312-316, ISBN: 978-960-474-297-4
[6]	Erhan Oztop, David W. Franklin, Thierry Chaminade, Gordon Cheng, Human-Humanoid Interaction: Is a Humanoid Robot Percieved as a Human?, International Journal of Humanoid Robotics 2(4)(2005) 537-559
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[8]	Chintamani, K., Nawab, A., Pandya, A., Ellis, R.D., & Cao, A. (2006). Comparing Two Kinematics Methods For Telerobotic Control Applications, Paper presented at the 50th Annual meeting of the Human Factors and Ergonomics Society, San Francisco CA.
[9]	Eduard Franti, Gheorghe Stefan, Paul Schiopu, Anca Plavitu, Tiberiu Boros, Modular software for artificial arms design, Published in Proceedings of the 13th WSEAS international conference on Automatic control, modelling & simulation, Pages 387-391, ISBN: 978-1-61804-004-6
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[11]	Chintamani, K., Cao, A., Ellis, R.D., & Pandya, A.K. (2010). Improved Tele-manipulator Navigation during Display-Control Misalignments using Augmented Reality Cues. IEEE Transactions on Systems, Man and Cybernetics, Part (A), 40, 29-39.
[12]	Jessie Y. C. Chen, Ellen C. Haas, and Michael J. Barnes Human Performance Issues and User Interface Design for Teleoperated Robots. IEEE Transactions on Systems, Man and Cybertenics. Part C:Applications and reviews, VOL. 37, NO. 6, 11, 2007
[13]	A. Birk, S. Schwertfeger, and K. Pathak, ‘‘A networking framework for teleoperation in safety, security, and rescue robotics (SSRR),’’ IEEE Wireless Commun. (Special Issue on Wireless Communications in Networked Robotics), vol. 6, no. 13, pp. 6–13, 2009.
[14]	Curtis W. Nielsen, Michael A. Goodrich, and Robert W. Ricks, Ecological Interfaces for Improving Mobile Robot Teleoperation, IEEE Transactions on Robotics, vol. 23, no. 5, pp. 927-941, October 2007, ISSN: 1552-3098
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APA Style

Mihail Teodorescu, Lucian Milea, Monica Dascalu, Dan Coroama. (2013). Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. International Journal of Astrophysics and Space Science, 1(5), 64-69. https://doi.org/10.11648/j.ijass.20130105.11

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ACS Style

Mihail Teodorescu; Lucian Milea; Monica Dascalu; Dan Coroama. Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. Int. J. Astrophys. Space Sci. 2013, 1(5), 64-69. doi: 10.11648/j.ijass.20130105.11

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AMA Style

Mihail Teodorescu, Lucian Milea, Monica Dascalu, Dan Coroama. Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. Int J Astrophys Space Sci. 2013;1(5):64-69. doi: 10.11648/j.ijass.20130105.11

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@article{10.11648/j.ijass.20130105.11,
  author = {Mihail Teodorescu and Lucian Milea and Monica Dascalu and Dan Coroama},
  title = {Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments},
  journal = {International Journal of Astrophysics and Space Science},
  volume = {1},
  number = {5},
  pages = {64-69},
  doi = {10.11648/j.ijass.20130105.11},
  url = {https://doi.org/10.11648/j.ijass.20130105.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijass.20130105.11},
  abstract = {The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.},
 year = {2013}
}

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TY  - JOUR
T1  - Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments
AU  - Mihail Teodorescu
AU  - Lucian Milea
AU  - Monica Dascalu
AU  - Dan Coroama
Y1  - 2013/11/30
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DO  - 10.11648/j.ijass.20130105.11
T2  - International Journal of Astrophysics and Space Science
JF  - International Journal of Astrophysics and Space Science
JO  - International Journal of Astrophysics and Space Science
SP  - 64
EP  - 69
PB  - Science Publishing Group
SN  - 2376-7022
UR  - https://doi.org/10.11648/j.ijass.20130105.11
AB  - The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.
VL  - 1
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Author Information

Mihail Teodorescu

Research Institute for Artificial Intelligence, Bucharest, Romania
Lucian Milea

Solaris Consult S.R.L., Bucharest, Romania
Monica Dascalu

Politehnica University of Bucharest, Romania
Dan Coroama

Politehnica University of Bucharest, Romania

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APA Style

Mihail Teodorescu, Lucian Milea, Monica Dascalu, Dan Coroama. (2013). Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. International Journal of Astrophysics and Space Science, 1(5), 64-69. https://doi.org/10.11648/j.ijass.20130105.11

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ACS Style

Mihail Teodorescu; Lucian Milea; Monica Dascalu; Dan Coroama. Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. Int. J. Astrophys. Space Sci. 2013, 1(5), 64-69. doi: 10.11648/j.ijass.20130105.11

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AMA Style

Mihail Teodorescu, Lucian Milea, Monica Dascalu, Dan Coroama. Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments. Int J Astrophys Space Sci. 2013;1(5):64-69. doi: 10.11648/j.ijass.20130105.11

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@article{10.11648/j.ijass.20130105.11,
  author = {Mihail Teodorescu and Lucian Milea and Monica Dascalu and Dan Coroama},
  title = {Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments},
  journal = {International Journal of Astrophysics and Space Science},
  volume = {1},
  number = {5},
  pages = {64-69},
  doi = {10.11648/j.ijass.20130105.11},
  url = {https://doi.org/10.11648/j.ijass.20130105.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijass.20130105.11},
  abstract = {The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.},
 year = {2013}
}

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TY  - JOUR
T1  - Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments
AU  - Mihail Teodorescu
AU  - Lucian Milea
AU  - Monica Dascalu
AU  - Dan Coroama
Y1  - 2013/11/30
PY  - 2013
N1  - https://doi.org/10.11648/j.ijass.20130105.11
DO  - 10.11648/j.ijass.20130105.11
T2  - International Journal of Astrophysics and Space Science
JF  - International Journal of Astrophysics and Space Science
JO  - International Journal of Astrophysics and Space Science
SP  - 64
EP  - 69
PB  - Science Publishing Group
SN  - 2376-7022
UR  - https://doi.org/10.11648/j.ijass.20130105.11
AB  - The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.
VL  - 1
IS  - 5
ER  -

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