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Intuitive Interfaces for Teleoperation of Continuum Robots

Conference paper
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Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 784)

Abstract

This paper presents a novel teleoperation interface for continuous backbone continuum robots. Previous teleoperation interface methods for continuum robots were less intuitive due to a degree-of-freedom mismatch, using non-continuum interface input devices with fewer degrees-of-freedom than the robot that was being operated. The approach introduced in this paper uses a graphical 3D model on screen to directly operate the continuum robot for an easier user experience. This paper details the development of both the model and software. The teleoperation interface was developed specifically for a nine degree-of-freedom pneumatically driven extensible continuum robot, but it can easily be extended to any continuum robot with an arbitrary number of section due to its modular design. Experiments using the aforementioned system on two different continuum robots are reported and areas for future work and improvement are detailed.

Keywords

Continuum robots User interfaces Teleoperation 

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Copyright information

© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electrical EngineeringClemson UniversityClemsonUSA

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