Publications associées à Téléopération

Shared Intelligence for Robot Teleoperation via BMI

This article proposes a novel shared intelligence system for brain-machine interface (BMI) teleoperated mobile robots where user's intention and robot's intelligence are concurrent elements equally participating in the decision process. We designed the sys ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Manana Lortkipanidze

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising alternative to standard c ...

2021

Arm-wrist haptic sleeve for drone teleoperation

Dario Floreano, Vivek Ramachandran, Matteo Macchini

Teleoperators rely on both visual and haptic feedback to perform drone teleoperation tasks, such as obstacle avoidance. Haptic feedback becomes essential when visual feedback is compromised, either due to visual occlusions or poor depth perception. However ...

2022

Does spontaneous motion lead to intuitive Body-Machine Interfaces? A fitness study of different body segments for wearable telerobotics

Dario Floreano, Fabrizio Schiano, Matteo Macchini

Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans’ natural control capability over the ...

2021

Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach

Walid Amanhoud

Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

EPFL2021

Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

Matteo Macchini

Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...

EPFL2021

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

Mahmut Selman Sakar, Murat Kaynak, Pietro Luciano Jakobus Dirix

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing ...

2020

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Antoine Weber

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

Wearable and Self-Aware Machine Learning System for Online Cognitive Workload Monitoring and Drone Control

Fabio Isidoro Tiberio Dell'Agnola

The use of robots in search and rescue is gaining particular interest, but singular skills are required to ensure efficient deployments in real missions. To face this problem, there is a need to develop more intuitive control interfaces. Moreover, to ensur ...

EPFL2020

Learning Trajectory Distributions for Assisted Teleoperation and Path Planning

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities o ...

2019

Learning from demonstration for semi-autonomous teleoperation

Sylvain Calinon

Teleoperation in domains such as deep-sea or space often requires the completion of a set of recurrent tasks. We present a framework that uses a probabilistic approach to learn from demonstration models of manipulation tasks. We show how such a framework c ...

2019

Teleoperation with a wearable sensor system

David Atienza Alonso, Dario Floreano, Silvestro Micera, Stefano Mintchev, Jenifer Cléa Miehlbradt, Fiorenzo Artoni, Martina Coscia, Fabio Isidoro Tiberio Dell'Agnola, Alexandre Thierry Cherpillod

A method for remotely controlling an operated unmanned object, comprises defining of a set of control movements of an operator; selecting of minimal necessary signals to reliably acquire the operator's control movements; defining of a mapping of the contro ...

2019

Soft haptic device to render the sensation of flying like a drone

Dario Floreano, Carine Rognon

Haptic feedback located on the torso is proposed to enhance the state awareness of a user in virtual reality or during teleoperation while leaving the hands free for manipulation and communication. We provide haptic feedback on the torso by compressing a s ...

2019

The current state and future outlook of rescue robotics

Dario Floreano, Auke Ijspeert, Roland Siegwart, Stefano Mintchev, Kamilo Andres Melo Becerra, Davide Scaramuzza, Tomislav Horvat, Marco Hutter

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

2019

Multi-Target Electrolyte Sensing Front-End for Wearable Physical Monitoring

Giovanni De Micheli, Sandro Carrara, Mandresy Ivan Ny Hanitra, Francesca Criscuolo

Wearable physiology is an expanding field, especially for sports applications that steadily require an accurate monitoring of the physical status of athletes. This work presents the co-design and the realization of an hardware front-end that enables multi- ...

IEEE2019

Wearable Technologies for Embodied Human-Robot Interaction

Carine Rognon

Robotic teleoperation is fundamental to augment the resilience, precision, and force of robots with the cognition of the operator. However, current interfaces, such as joysticks and remote controllers, are often complicated to handle since they require cog ...

EPFL2019

Programming by Demonstration for Shared Control with an Application in Teleoperation

Sylvain Calinon

Shared control strategies can improve task-performance in teleoperation. In such systems automation guides or corrects a human operator. The amount of correction or guidance that is provided is denoted the level-of-automation. As the variety of teleoperati ...

2018

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Stefano Mintchev, Amy Roning Wu, Carine Rognon

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

2018

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Stefano Mintchev, Amy Roning Wu, Carine Rognon

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

Dexterous Underwater Manipulation from Distant Onshore Locations

Sylvain Calinon, Ajay Kumar Tanwani

Underwater manipulation is a challenging problem. The state of the art is dominated by Remotely Operated Vehicles (ROV). ROV operations typically require an offshore crew consisting of at least an intendant, an operator, and a navigator. This crew often ha ...

2018