Proposal of a Framework for Enhancing Teleoperation Experience with Biomechanical Simulation-Based Electrical Muscle Stimulation in Virtual Reality
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3675094.3678380.pdf
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4.72 MB
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Checksum (MD5)
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Author(s)
Hwang, Seokhyun
Kang, Seongjun
Oh, Jeongseok
Park, Jeongju
Shin, Semoo
Luo, Yiyue
DelPreto, Joseph
Matusik, Wojciech
Rus, Daniela
Kim, SeungJun
Date Issued
October 5, 2024
Publisher
ACM|Companion of the 2024 ACM International Joint Conference on Pervasive and Ubiquitous Computing
Citation
Hwang, Seokhyun, Kang, Seongjun, Oh, Jeongseok, Park, Jeongju, Shin, Semoo et al. 2024. "Proposal of a Framework for Enhancing Teleoperation Experience with Biomechanical Simulation-Based Electrical Muscle Stimulation in Virtual Reality."
Version
Final published version
Abstract
Teleoperation, the remote manual control of robots, is primarily used in high-precision and safety-critical environments such as surgery, space exploration, and deep-sea exploration. Despite being a widely utilized technology, teleoperation relies on human cognitive abilities, leading to significant cognitive load for operators. To address this challenge, we propose a concept of a VR teleoperation haptic system that combines biomechanical simulation and electrical muscle stimulation to provide force feedback in a lightweight, wearable form by mimicking natural force generation without the need for external actuators. Our system is divided into two main components: the physical simulation part, which calculates the joint torques to replicate forces from the manipulator, and the electrical stimulation part, which translates torques into muscle stimulations. Through this integration, we expect our system to bridge the gulf of execution and evaluation, reducing cognitive load and enhancing teleoperation performance. This paper aims to discuss the detailed framework of our system and potential future research directions.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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DOI of Published Version
https://doi.org/10.1145/3675094.3678380
