IEEE Robotics & Automation Magazine - September 2021 - 21
than that of the audio channel. Therefore, the visual feedback
to the operator provides high camera resolution, sufficient
light and depth of focus, stereo information, and a large field
of view. In contrast to tactile feedback (which is required only
for very specific tasks), kinesthetic force feedback provides
safety-critical information on the physical interaction of the
remote robotic arm with its environment.
Telemanipulation has its origins in the atomic industry.
The first basic telerobotic system was developed in 1945 in
the Argonne National Laboratory for radioactive environments
to replace humans in harmful situations. Since then,
and especially with the development of torque-controlled
robots, the technology was further developed for space applications
and is currently even applied in surgical scenarios due
to micromanipulation capabilities and tremor filtering.
Despite the market maturity, the safety of persons in the
robot environment and also of the human operator in the
control center remains the utmost priority in the development
process. Additional safety measures include observation
of the quality of the communication channel,
passivity-based handling of interaction forces, and the
overall control stability despite the time delay [31]. Still, the
delay itself is the limiting factor for human perception and
performance. To ease complex procedures and reduce the
workload of the operator, different augmentation approaches
have to be considered for demanding tasks [32].
In our prototypical implementation, direct haptic teleoperation
of the assistive robotic systems is possible. Upon teleoperation
request, the control authority of the avatar is taken
through HUG. Since EDAN features only one manipulator,
only one arm of HUG is needed for manipulation, whereas
the other arm is used as a joystick to control the motion of the
nonholonomic platform. In Justin, both robot arms can be
teleoperated in parallel. To control its pseudo-omnidirectional
mobile base, a differential steering method is realized where
both arms of HUG serve as joysticks.
Within the ecosystem, HUG is combined with the previously
described tablet interface that provides the teleoperator
with autonomous capabilities whenever needed. This extended
telepresence technology is applied for two reasons. For
one, teleoperation via telepresence can
effectively increase the deployability of
autonomous robots, as these systems
will not achieve 100% reliability in the
near future. In the case of failure or
malfunction in autonomous operation,
the teleoperator can take over
control and either finish the incomplete
task or bring the robot to a safe state
and start remote diagnosis and repair
in the case of technical problems.
On the other hand, haptic teleoperation
can be used in scenarios and
tasks in which autonomous capabilities
are not preferred. This could,
for example, be the case when
conducting medical examinations remotely or when emergency
situations occur. Here, we particularly envision use
cases, such as medical emergencies, in which the teleoperator
administers medication as well as gathers and provides
to the emergency doctor information about the medical
condition of the patient prior to arrival on site.
To offer this telepresence service in an effective way, the
ecosystem envisions a teleoperation control center, in
which human operators (Figure 7) can connect to all available
avatars whenever needed. As intervention via teleoperation
will be needed only when the autonomy of a system
fails or in the case of a medical emergency, the number of
teleoperators needed is low compared to the number of
robots in use. Using this call-center-like approach, it will be
possible to manage a large number of robotic systems located
in different facilities anywhere around the world.
Case Studies
To demonstrate the features of the ecosystem, we have created
exemplary scenarios that showcase typical situations people in
need of care may experience in daily living and in which
robotic assistance can be beneficial. To address the actual
needs of daily nursing care that could be supported by robots,
it is important to identify and define the actual goals, together
with all stakeholders involved. Therefore, the scenarios are
based on interviews conducted with nurses and those requiring
care to identify useful applications.
People in need of care, caregivers, and relatives are considered
potential primary and secondary users of the robots
in the ecosystem. To get a first-hand impression, representatives
of all groups were asked about the requirements and
wishes for functions and properties but also about the challenges
they see. The sentiment of potential users shows that
assistance robots in care are seen as positive and promising
in some specific areas of application.
This is especially the case for fetch-and-carry tasks as
well as small chores, such as opening a window. For this
class of tasks, a robot is seen as a potential help by both
caregivers and caretakers. For the group of severely disabled
people, food and drink preparation was named, as
Figure 7. The teleoperation setup with DLR HUG (in the background) and the robotic
system Justin (in the foreground).
SEPTEMBER 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
21
IEEE Robotics & Automation Magazine - September 2021
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