Issue link: https://htpgraphics.uberflip.com/i/1385717
FUTURE ASPIRATIONS // We believe that this work will contribute to bringing safety to the glovebox robotic telemanipulation. We also believe that we can demonstrate a collision-free telemanipulation by further integrating an environmental perception module, for which some of the other RAIN members have been already working, and an immersive user interface module, which I already developed previously. Also, it is worth noting that the shared autonomy inverse kinematics framework being used in this work has great potential. It can include collision avoidance assistance, as shown in this work, as well as other assistance for manipulating objects. 21 HUMAN ROBOT INTERACTION RAIN PROGRESS // We implemented the Collision-free IK on ROS and developed it to be used with as many commercial robot manipulators as possible so that any 6-DOF or 7-DOF robot supporting ROS can be easily replaceable for a telemanipulation system. Even during this lockdown period, thanks to this work's nature (i.e. telemanipulation), we also successfully conducted a usability study remotely. For this, 24 people joined to investigate how much their performance (i.e. how quickly they can move the robot end effector to a target position without making any collision in a cluttered environment) would be improved when they use the proposed method. The participants used their computers from their home and remotely controlled a simulated robot manipulator through the Internet. The results are interesting: briefly, all of the participants were able to complete the given test mission with no collision, and most of them took a shorter time when in use of the proposed method. Interestingly, a few of them did not like the method for some reasons; however, their performance was still better at the proposed method. The details of this work will be soon available!