Immersive Embodied Telemanipulation System with a Velocity Controller

The rapid development of immersive technologies, such as virtual reality (VR), augmented reality (AR) and mixed reality (MR), presents an opportunity to combine these advancements to achieve embodied intelligence and human-in-the-loop robotic telemanipulation. We present an immersive embodied telemanipulation system with a velocity controller through MR interfaces. This system is cost-efficient, user-friendly, immersive, highly embodied, 6 DOF and compatible with the Robot Operating System (ROS). The main novelty of this paper is that it employs resolved-rate motion control (RRMC) to enable continuous position servoing that generates Cartesian workspace velocity command, addressing smooth and agile manipulation over a large workspace. We conducted a user study involving three daily manipulation tasks to evaluate our proposed system in terms of task performance, user experience, and user workload. The user study demonstrated that our method outperformed conventional GUI methods. A video of demos is available at: https://youtu.be/BAV0jQoAaEk.