A Telepresence Enhancing Method Based on Human Arm Dynamics

Haptic feedback can enhance telepresence when human operators are teleoperating robotic systems to complete diverse tasks. Force sensing as a component of haptic feedback is crucial to teleoperation performance. However, existing teleoperation systems with such functionality often do not have the properties of lightweight and good human-robot interaction at the same time. To overcome this challenge, this paper proposes a telepresence enhancing method using motor vibration induced muscle exertion sensation, upon which a teleoperation device for robotic arms is designed. The provided force feedback within the device can help collect good human demonstration data and then enable robotic arms to perform autonomous manipulation after imitation learning from human. Three different experiments, including force sensation, maze navigation and object manipulation, have been designed to verify the effectiveness of the teleoperation device, as well as the telepresence enhancing method. The results demonstrate that the system can greatly improve the operator's teleoperation performance and incrementally endow the robot with autonomous intelligence.