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Rodriguez-Nogueira, JoseAuthor

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Interactive Multi-Stiffness Mixed Reality Interface: Controlling and Visualizing Robot and Environment Stiffness

Publicated to:2011 Ieee/Rsj International Conference On Intelligent Robots And Systems. 13479-13486 - 2024-01-01 (), DOI: 10.1109/IROS58592.2024.10801866

Authors: Rosales, Alejandro Diaz; Rodriguez-Nogueira, Jose; Matheson, Eloise; Abbink, David A; Peternel, Luka

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Abstract

Teleoperation is a crucial technology enabling human operators to control robots remotely to perform tasks in hazardous and difficult-to-access environments. Tasks in such environments often involve complex physical interactions with tools and objects of various softness. To this end, teleimpedance enables the operators to adjust the robot impedance in real-time to simplify such interactions. While the existing teleimpedance approaches provide several interfaces to command the robot impedance, there are no interfaces to visualize both the commanded impedance and that of the objects to be interacted with. This paper presents a novel interface to provide visual feedback on the impedance of remote robots and objects. To do so, we use virtual stiffness ellipsoids and different modes that display the individual impedance of the robot and objects as well as combined post-contact impedance. The key advantage of visual feedback on the impedance compared to force feedback is that the operator can see the interaction characteristics before the contact occurs. This enables the operator to act proactively before contact rather than just reactively after the contact. This paper also proposes a new intuitive way to command the robot impedance using mixed reality, interacting with these ellipsoids and modifying them as needed. To demonstrate the key functionalities of the developed interface, we performed proof-of-concept experiments on teleoperated tasks.

Keywords

Bilateral teleoperationImpedance controlSysteTele-impedance

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal 2011 Ieee/Rsj International Conference On Intelligent Robots And Systems due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2024 there are still no calculated indicators, but in 2023, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category .

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-06-01:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 1 (PlumX).

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Netherlands; Switzerland.