Multi-point multi-hand haptic teleoperation of a mobile robot

This paper introduces a novel approach to multi-point multi-hand haptic teleoperation of a mobile robot. The work extends upon existing approaches to provide the teleoperator with the ability to utilise one hand to achieve intuitive haptic control of the mobile robot while utilising the other hand to intuitively control the orientation (and corresponding visual information) of the robot´s onboard camera. This work begins with the introduction of the intuitive haptic conical control surface which extends upon existing approaches to provide the teleoperator with an intuitive method for issuing robot motion commands whilst simultaneously displaying real-time task-dependent haptic augmentation. A novel multi-point haptic gripper prototype is then introduced providing the basis for the teleoperator to haptically utilise the camera-in-hand metaphor for intuitive control of the visual information provided by the robot´s onboard camera. The distinct advantages justifying the individual approaches are discussed and it is suggested that using dual haptic modalities the teleoperator can utilise both approaches simultaneously for intuitive haptic mobile robotic teleoperation. This work represents the first stage of a continuing research project and provides innovative contributions facilitating the presented approach to mobile robotic teleoperation. The realisation of this capability enables future research to fully investigate the human factors and efficacy of the approach.