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Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

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Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot

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dc.contributor.author Girbés-Juan, Vicent es_ES
dc.contributor.author Schettino, Vinicius es_ES
dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Solanes, J. Ernesto es_ES
dc.contributor.author Demiris, Yiannis es_ES
dc.contributor.author Tornero, Josep es_ES
dc.date.accessioned 2023-12-15T19:01:19Z
dc.date.available 2023-12-15T19:01:19Z
dc.date.issued 2022-06 es_ES
dc.identifier.issn 1783-7677 es_ES
dc.identifier.uri http://hdl.handle.net/10251/200802
dc.description.abstract [EN] High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method. es_ES
dc.description.sponsorship This research was funded by Generalitat Valenciana (Grants GV/2021/074 and GV/2021/181) and by the SpanishGovernment (Grants PID2020-118071GB-I00 and PID2020-117421RBC21 funded by MCIN/AEI/10.13039/501100011033). This work was also supported byCoordenacao de Aperfeiaoamento de Pessoal de Nivel Superior (CAPES Brasil) under Finance Code 001, by CEFET-MG, and by a Royal Academy of Engineering Chair in Emerging Technologies to YD. es_ES
dc.language Inglés es_ES
dc.publisher Springer-Verlag es_ES
dc.relation.ispartof Journal on Multimodal User Interfaces es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Multimodal teleoperation es_ES
dc.subject Haptic feedback es_ES
dc.subject Motion capture es_ES
dc.subject Dual-arm robotics es_ES
dc.subject Collaborative robot es_ES
dc.subject Surface conditioning es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1007/s12193-021-00386-8 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//AEST%2F2019%2F010//AYUDA ESTANCIA EN EMPRESA FORD ESPAÑA S.A. "ROBOTICA INDUSTRIAL/COLABORATIVA EN EL PROCESO DE LIJADO/PULIDO DE CARROCERIAS DE AUTOMOVIL"/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-117421RB-C21/ES/PULIDO ROBOTIZADO AVANZADO DE SUPERFICIES EN LA INDUSTRIA DEL AUTOMOVIL/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//AEST%2F2021%2F079//ESTANCIA ALFATEC. DETECCIÓN Y CLASIFICACIÓN DE DEFECTOS.../ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-118071GB-I00/ES/APRENDIZAJE AUTOMATICO BIOINSPIRADO/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//GV%2F2021%2F181//Interacción humano-robot avanzada basada en realidad mixta y fusión sensorial para operaciones de tratamiento de superficies de productos manufacturados./ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//GV%2F2021%2F074/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/CAPES//001/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Politécnica Superior de Alcoy - Escola Politècnica Superior d'Alcoi es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.description.bibliographicCitation Girbés-Juan, V.; Schettino, V.; Gracia Calandin, LI.; Solanes, JE.; Demiris, Y.; Tornero, J. (2022). Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot. Journal on Multimodal User Interfaces. 16(2):219-238. https://doi.org/10.1007/s12193-021-00386-8 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1007/s12193-021-00386-8 es_ES
dc.description.upvformatpinicio 219 es_ES
dc.description.upvformatpfin 238 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 16 es_ES
dc.description.issue 2 es_ES
dc.relation.pasarela S\466231 es_ES
dc.contributor.funder GENERALITAT VALENCIANA es_ES
dc.contributor.funder AGENCIA ESTATAL DE INVESTIGACION es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder UNIVERSIDAD POLITECNICA DE VALENCIA es_ES
dc.contributor.funder Royal Academy of Engineering, Reino Unido es_ES
dc.contributor.funder Coordenaçao de Aperfeiçoamento de Pessoal de Nível Superior, Brasil es_ES
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