TY - JOUR
T1 - A Framework for Customizable Multi-User Teleoperated Control
AU - Munawar, Adnan
AU - Wu, Jie Ying
AU - Taylor, Russell H.
AU - Kazanzides, Peter
AU - Fischer, Gregory S.
N1 - Funding Information:
Manuscript received October 15, 2020; accepted February 8, 2021. Date of publication February 26, 2021; date of current version March 22, 2021. This letter was recommended for publication by Associate Editor Z. Li and Editor P. Valdastri upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation (NSF) through the NRI 1637759, in part by AccelNet OISE under Grants 1927354 and 1927275, and in part by Johns Hopkins University internal funds, and an agreement between Johns Hopkins University and the Multi-Scale Medical Robotics Centre, Ltd. (Corresponding author: Adnan Munawar.) Adnan Munawar, Jie Ying Wu, Russell H. Taylor, and Peter Kazanzides are with the Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218 USA (e-mail: amunawar@jhu.edu; jieying@jhu.edu; rht@jhu.edu; pkaz@jhu.edu).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - Traditional teleoperation (leader/follower) systems primarily focus on one operator controlling one remote robot, but as robots become ubiquitous, there is an increasing need for multiple operators, including autonomous agents, to collaboratively control multiple robots. However, existing teleoperation frameworks do not inherently support the variety of possible collaborations, such as multiple operators, each with an input device (leader), controlling a robot and camera or different degrees of freedom of a single robot (follower). The same concept applies to teleoperating robots in a simulation environment through physical input devices. In this letter, we extend our novel simulation framework that is capable of incorporating multiple input devices asynchronously with a real-Time dynamic simulation to incorporate a customizable shared control. For this purpose, we have identified and implemented a sufficient set of coordinate frames to encapsulate the pairing of multiple leaders, followers and cameras in a shared asynchronous manner with force feedback. We demonstrate the utility of this framework in accelerating user training, ease of learning, and enhanced task completion times through shared control by a supervisor.
AB - Traditional teleoperation (leader/follower) systems primarily focus on one operator controlling one remote robot, but as robots become ubiquitous, there is an increasing need for multiple operators, including autonomous agents, to collaboratively control multiple robots. However, existing teleoperation frameworks do not inherently support the variety of possible collaborations, such as multiple operators, each with an input device (leader), controlling a robot and camera or different degrees of freedom of a single robot (follower). The same concept applies to teleoperating robots in a simulation environment through physical input devices. In this letter, we extend our novel simulation framework that is capable of incorporating multiple input devices asynchronously with a real-Time dynamic simulation to incorporate a customizable shared control. For this purpose, we have identified and implemented a sufficient set of coordinate frames to encapsulate the pairing of multiple leaders, followers and cameras in a shared asynchronous manner with force feedback. We demonstrate the utility of this framework in accelerating user training, ease of learning, and enhanced task completion times through shared control by a supervisor.
KW - Medical robots and systems
KW - simulation and animation
KW - telerobotics and teleoperation
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U2 - 10.1109/LRA.2021.3062604
DO - 10.1109/LRA.2021.3062604
M3 - Article
AN - SCOPUS:85101812053
SN - 2377-3766
VL - 6
SP - 3256
EP - 3263
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 9364683
ER -