Virtual Tool Interfaces for Constraint-Based Robot Teleoperation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current tele-operating systems face inefficiencies in tool control, requiring manual selection of constraints through non-intuitive user interfaces and often necessitate robot tool changes, which can be inflexible and expensive.
Innovation Solution
A user interface that utilizes virtual tool representations to intuitively select actions and constraints, allowing operators to control robots through familiar tool metaphors, with feedback and adaptive control modes to ensure compliance with tool constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a universal actuator with direct operator control is used, then the system is flexible and requires no tool changes, but the operator cannot set constraints on the physical tool and control accuracy is reduced
Solution Approach 1:
The patent introduces a virtual tool representation as an intermediary between the operator and the universal actuator. This virtual tool allows the operator to select and impose constraints (such as torque limits, speed ranges, or positional boundaries) on the actuator's operation, thereby enabling constraint-based control without physical tool changes while maintaining system flexibility.
Solution Approach 2:
The patent creates a virtual copy of a physical tool (e.g., a torque wrench) that replicates its constraint-setting functionality in the digital realm. The operator interacts with this virtual representation to define operational parameters and constraints, which are then enforced by the control system on the universal actuator, achieving both flexibility and precision.
2Manufacturing precision
If a specialized tool attachment is mounted on the robot, then control accuracy and constraint setting improve, but the system requires tool changes and becomes less flexible
Solution Approach 1:
The patent makes the universal actuator multi-functional by enabling it to emulate the constraint-setting capabilities of various specialized tools through virtual tool representations. Instead of requiring physical tool changes, the actuator can adapt its behavior to match different tool types (torque wrench, speed controller, positioner) via software-based virtual tools, achieving both precision and flexibility.
Solution Approach 2:
The patent creates virtual copies of specialized tools that replicate their constraint-enforcement functionality. These virtual representations allow the universal actuator to impose specific constraints (torque, speed, position) without requiring the physical specialized tool, thereby eliminating tool changes while maintaining control accuracy.
3Manufacturing precision
If a traditional VR user interface with menus and sliders is used, then the operator can select support modes and set constraints, but the interface is not intuitive and increases operator burden
Solution Approach 1:
The patent enables the virtual tool representation to automatically present relevant constraint-setting options based on the selected tool type and current operational context. Instead of requiring the operator to navigate through generic menus, the interface adapts to the specific tool being used and provides context-appropriate controls, reducing cognitive load and improving intuitiveness while maintaining precise constraint setting.
Solution Approach 2:
The patent customizes the user interface elements according to the specific virtual tool selected. Each virtual tool (torque wrench, speed controller, etc.) presents its own specific constraint parameters and controls in a tool-specific manner, rather than using a generic set of menus and sliders. This localized interface design makes the interaction more intuitive by matching the operator's mental model of the specific tool being controlled.
Data Source
AI summary
A user interface for instructing a tele-operating system and the tele-operating system are provided. The user interface includes an output device configured to output at least one virtual tool representation of at least one tool to an operator of the tele-operating system, and an input device configured to obtain a selection instruction from the operator for selecting one of the output at least one virtual tool representation. The user interface further includes a control circuit configured to determine a task based on the selected virtual tool representation, control displaying the selected virtual tool representation to the operator via the output device, acquire an action instruction from the operator via the input device, interpret the acquired action instruction based on the determined task, and control the tele-operating system to perform an action using the at least one tool based on the interpreted action instruction and the selected virtual tool representation.