TacGELLO: 3Dプリント製リーダーによる触覚接触フィードバック
TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader
3Dプリント製の遠隔操作リーダーアームに、グリッパの触覚接触フィードバックと関節の負荷キューを追加し、操作者が遠隔の接触を感じながら操作できるようにした研究。
著者: Younsoo Kim, Sangmin Song, Sarath Kodagoda, Marc Carmichael, Karthick Thiyagarajan
分類: cs.RO
原文アブストラクト
Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedback at the gripper trigger and current-based load cues at the arm joints. AnySkin contact detection activates a trigger position hold, while changes in follower joint current adjust leader-servo output limits to command resistance during lifting. Across six UR3 sessions with one operator, sent-command tracking error was 0.15--0.36$^\circ$ RMSE, with estimated trajectory lag of 82--98\,ms. Tactile onset was logged in 60 of 62 segmented TacGELLO grasp intervals. Median commanded closure after tactile or width-based contact references was 0.7--2.1\,mm with TacGELLO and 13.0--13.9\,mm with the original interface.