| Title |
Haptic Teleoperation of ROV with Multiple Underwater Sensors |
| Authors |
이찬일(Chanil Lee) ; 최창호(Changho Choi) ; 문광호(Kwangho Moon) ; 국영민(Youngmin Kook) |
| DOI |
https://doi.org/10.5573/ieie.2023.60.1.66 |
| Keywords |
ROV; Haptic; Teleoperation; Underwater sensor |
| Abstract |
This paper proposes a haptic teleoperation method for a ROV with multiple underwater sensors. New type of 4-DOF haptic master device is proposed for ROV teloperation and several haptic teleoperation algorithms for increasing the intuitveness of the remote operation of ROV is introduced. Discrete haptic pattern generation method is introduced for providing a clicking feeling to the operator when they are controlling the depth of the ROV and it was experimentally tested. Adaptive haptic feedback method depends on approaching velocity to the obstacle is introduced and also experimentally tested. It is proposed to aptic feedback scheme to intuitively provide a speed difference between the desired speed command and the actual speed of the ROV, and a method to intuitively deliver information to the operator rather than the visual feedback scheme used in the past. The proposed scheme demonstrates the feasibility of teleoperation of haptic feedback schemes to improve teleoperation performance by intuitively communicating information to operators using haptic. |