Teleoperated motion scaling robotic manipulator with force feedback

Abstract

This study introduces a Teleoperated Motion Scaling Robotic Arm (TMSRA) platform that allows the human operator to control the motion-mapping rate between the master (haptic console) and slave (robotic excavator) devices, while also providing force feedback and virtual safety functions to help prevent excessive force application by the slave device. This study experimentally evaluated the impact of motion scaling and force feedback on human users’ ability to perform simulated construction tasks. Experimental results from simulated robotic excavating and demolition tasks show that the maximum force applied to fictive buried facilities was reduced by 77.67% and 76.36% respectively due to the force feedback and safety function. Experimental results from simulated payload pushing/sliding tasks demonstrate that the provision of user-controlled motion scaling increases task efficiency, reducing completion times by at least 31.41%, and as much as 47.76%.