Robotic Vehicle Teleoperation With Haptic Feedback in Dynamic Environments
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Solution Overview
Problem
Existing robotic control systems face interoperability issues due to proprietary technologies, are expensive, and rely on high-precision sensors, limiting their ability to work with a variety of sensors from different manufacturers and applications, and often suffer from dynamic environmental challenges.
Innovation Solution
A robust, low-cost robotic control system that is platform agnostic, capable of integrating with a wide range of sensors and operating in dynamic environments, utilizing intuitive control methods and inertial sensors for precise robotic manipulation, and supporting multi-domain unmanned systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct manipulation of robotic vehicles is used, then control precision is improved, but operator safety deteriorates due to exposure to hazardous environments
Solution Approach 1:
The patent introduces a haptic feedback device as an intermediary between the operator and the robotic vehicle. This mediator transmits tactile sensations from the hazardous environment to the operator without requiring direct physical contact, thus maintaining control precision while protecting operator safety. The haptic device acts as a sensory bridge that allows remote operation with force feedback.
Solution Approach 2:
The patent replaces direct mechanical manipulation with a remote control system augmented by haptic feedback. Instead of the operator directly handling objects in hazardous environments, the mechanical interaction is substituted through a control system that transmits haptic sensations electronically, eliminating physical exposure to dangers while preserving tactile control capabilities.
2Loss of information
If haptic feedback device is added to robotic vehicle, then operator awareness is improved, but device complexity increases
Solution Approach 1:
The haptic feedback device performs multiple functions: it provides tactile feedback to the operator, transmits environmental sensations, and enables force feedback control. By consolidating these functions into a single integrated device, the patent reduces overall system complexity compared to having separate systems for each function while maintaining comprehensive operator awareness.
Solution Approach 2:
The haptic feedback device creates a tactile copy of the remote environment, transmitting sensory information about forces and textures to the operator. This copying mechanism provides comprehensive awareness without requiring complex direct sensing and processing systems, as the haptic device replicates the essential tactile experience remotely.
3Measurement precision
If tactile sensations are transmitted to operator, then control accuracy is improved, but energy consumption increases
Solution Approach 1:
The haptic feedback system operates by transmitting tactile sensations periodically or on-demand based on operational needs rather than continuously. This periodic operation reduces energy consumption compared to constant feedback transmission while maintaining control accuracy by providing haptic information at critical moments when the operator needs tactile information.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables seamless integration with various sensors and platforms, reduces user fatigue, and enhances user independence by allowing intuitive control of robotic systems, even in challenging environments, while ensuring interoperability and cost-effectiveness.
Implementation Method 1
a sensor suite including an inertial sensor
Data Source
Figure 1A
Figure 1B
Figure 1C
AI summary
Systems and methods of manipulating/controlling robots. In many scenarios, data collected by a sensor (connected to a robot) may not have very high precision (e.g., a regular commercial/inexpensive sensor) or may be subjected to dynamic environmental changes. Thus, the data collected by the sensor may not indicate the parameter captured by the sensor with high accuracy. The present robotic control system is directed at such scenarios. In some embodiments, the disclosed embodiments can be used for computing a sliding velocity limit boundary for a spatial controller. In some embodiments, the disclosed embodiments can be used for teleoperation of a vehicle located in the field of view of a camera.