Repositionable Input Control Device for Teleoperation Ergonomics
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Solution Overview
Problem
In teleoperation systems with movable arms, repositioning input control devices without operator intervention can lead to discomfort or injury, as existing methods often require manual disengagement and movement, which is tedious and may result in unintended device movement.
Innovation Solution
A system comprising an operator workstation with sensors and actuators that determine operator interaction and automatically plan and execute repositioning trajectories for input control devices when no interaction is detected, ensuring alignment with associated end effectors while maintaining ergonomic positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual repositioning of input control device is performed, then alignment with end effector is achieved, but operator workload increases and risk of discomfort or injury occurs
Solution Approach 1:
The input control device performs self-repositioning through automated trajectory generation and execution. The device autonomously determines its own movement path from current to desired position while maintaining alignment with the end effector, eliminating the need for manual intervention and reducing operator workload.
Solution Approach 2:
The system pre-calculates the repositioning trajectory before executing the movement. By determining the optimal path in advance and checking for operator presence beforehand, the system ensures smooth automated repositioning without sudden movements that could cause discomfort or injury to the operator.
2Ease of operation
If automated repositioning is implemented, then operator comfort is improved, but risk of unintended device movement increases
Solution Approach 1:
The system continuously monitors operator presence and interaction status during the repositioning process. Sensors detect whether the operator is present or has interacted with the control device, providing real-time feedback that allows the system to pause or adjust automated movements, ensuring safety and preventing unintended actions.
Solution Approach 2:
The repositioning system dynamically adjusts its behavior based on real-time operator status. When operator interaction is detected or presence is confirmed, the automated repositioning is modified or halted, creating a dynamic control system that adapts to operator needs and maintains safety while enabling comfort.
3Ease of operation
If frequent repositioning is performed to maintain ergonomics, then operator ergonomics improve, but system complexity increases
Solution Approach 1:
The system replaces complex manual mechanical repositioning operations with automated computational trajectory generation. Instead of requiring complex manual coordination, the system uses algorithms to calculate optimal movement paths and executes them automatically, reducing the perceived complexity for the operator while maintaining ergonomic benefits.
Data Source
AI summary
Techniques for repositioning an input control device of an operator workstation including a repositionable arm coupled to an input control device, a sensor system having a sensor that is a contact or proximity sensor, one or more actuators coupled to drive the repositionable arm, and a controller. The controller is configured to receive sensor data from the sensor; make, based on the sensor data, an interaction determination indicative of whether the input control device has received an operator interaction for controlling a position, an orientation, or a motion of the input control device; and in response to the interaction determination indicating the input control device not having received the operator interaction, determine a trajectory for the repositionable arm that moves the input control device toward a desired position or orientation and cause the actuators to drive the repositionable arm and move the input control device based on the trajectory.