Model-Mediated Teleoperation for Remote Haptic Texture Sharing: Initial Study of Online Texture Modeling and Rendering

Publikation: Bidrag til bog/antologi/rapportKonferencebidrag i proceedingsForskningfagfællebedømt

  • Mudassir Ibrahim Awan
  • Tatyana Ogay
  • Hassan, Waseem
  • Dongbeom Ko
  • Sungjoo Kang
  • Seokhee Jeon

While model-mediated teleoperation (MMT) is an effective alternative for ensuring both transparency and stability, its potential in transmitting surface haptic texture is not yet explored. This paper introduces the first MMT framework capable of sharing surface haptic texture. The follower side collects physical signals contributing to haptic texture perception, e.g., high frequency acceleration, and streams them to the leader side. The leader side uses the signals to build and update a local measurement-based texture simulation model that reflects the remote surface. At the same time, the leader runs local simulation using the model, resulting in non-delayed, stable, and accurate feedback of texture. Considering that rendering haptic texture needs tougher real-time requirements, e.g., higher update rate and lower action-feedback latency, MMT can be a perfect platform for remote texture sharing. An initial proof-of-concept system supporting single and homogeneous surface is implemented and evaluated, demonstrating the potential of the approach.

OriginalsprogEngelsk
TitelProceedings - ICRA 2023 : IEEE International Conference on Robotics and Automation
Antal sider7
ForlagIEEE
Publikationsdato2023
Sider12457-12463
ISBN (Elektronisk)9798350323658
DOI
StatusUdgivet - 2023
Eksternt udgivetJa
Begivenhed2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, Storbritannien
Varighed: 29 maj 20232 jun. 2023

Konference

Konference2023 IEEE International Conference on Robotics and Automation, ICRA 2023
LandStorbritannien
ByLondon
Periode29/05/202302/06/2023
NavnProceedings - IEEE International Conference on Robotics and Automation
Vol/bind2023-May
ISSN1050-4729

Bibliografisk note

Publisher Copyright:
© 2023 IEEE.

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