Robots are often required to function in environments that are too dangerous or expensive for direct human operation, but, computer control and intelligence are not sufficiently developed to permit them to operate under their own initiative. In these instances teleoperational control forms a popular solution set. For optimum performance under these conditions the operator would wish to control an advanced instrumented robot, comparable in function (where possible) with the human body, integrated into a sophisticated tele-presence system to provide the operator with a full range of motion inputs and sensory feedback data. This chapter considers the development of input, control and feedback (visual, audio and tactile) systems (man-machine interface) for a twin armed mobile robot to be used in tele-presence applications. Modules for leg, arm, hand and head motion monitoring have been developed to control the activities. Cameras, microphones and a multi-functional tactile sensing system provide feedback signals that give the operator a relatively realistic impression of the robot's activities. The signals from these sensors can be fed to the operator as direct stimuli, comparable in many instances with normal sensations. All the feedback modules have been made sufficiently light and compact that they can be worn by the operator during normal usage, without restricting motion or comfort. Comparisons of various visual, control, audio and tactile techniques have also revealed the optimum sensory configurations for specific tasks.

Inspec keywords: virtual reality; cameras; motion control; mobile robots; dexterous manipulators; robot vision; tactile sensors; intelligent robots; microphones; telerobotics; feedback

Other keywords: sensory feedback data; telerobotics; motion monitoring; camera; intelligent robot; teleoperational control; twin armed mobile robot; feedback signal; computer control; microphone; telepresence control; multifunctional tactile sensing system

Subjects: Image sensors