Research On Construction Robot Tele-operation Technology Based On Multi-sensory Feedback

The tele-operation construction robot system was used as part of the radioactivematerial handling plan of America after the2ndworld war. After that, this systembegan to be researched in full swing by various countries as a key project, and to beapplied in different industries, such as post-disaster repair and reconstruction, spaceand deep-sea tasks, nuclear facilities, medical, construction, machine tools, etc. Theremote manipulation technology combines the human intelligence and the real-timecontrol of robot, the remote task in the dangerous field is completed by the robotwhich is controlled by the human operator that stayed in a safe place. Thus, theadaptability and robustness of the robot operating in complex environment have beenimproved greatly. During the process of tele-operation, the distance between thehuman operator and the robot is too far, so that the operator can not personally awareof the real environment of the task field. Thus, the remote task only can be finishedaccording to the images, sounds, haptic and tactile information feedback from thework field.The paper has researched and improved the feedback forms of the constructionrobot system based on the existing research results. In order to enhance the visual andtactile tele-presence of the operator, the virtual reality technology, force feedback,auditory feedback and visual feedback are combined to provide the information of jobsite to the operator as much as possible in the remote manipulation. Therefore, theperformance, safety and effectiveness of the operation have been improvd, thesubjective workload and task complete time of the operator have been reduced.Finally, the impact of various feedback methods are analyzed and validated.The paper interacts the research background of construction robot tele-operationsystem and the research status of virtual reality technology, proposes a new feedbackmethod to reflect the change of grapple’s driving force through sound tempo andgraphic bars. In order to provide the auditory feedback and visual graphic barfeedback to the operator while the object was grasping or releasing, not only thesudden changes of the driving force, but also the slowly and slight changes. Hence,the operator can percept the change of the driving force in real time and accurate, andthen choose the suitable grasping force and optimize it constantly according to theobtained awareness. Thus, the damage and sudden release of the object can beavoided. And the task complete time and the subjective workload also can be reduceddue to the information from the task field. The advantages of the new feedbackmethods are verified after multiple groups grasping tests for several material objects by different feedback methods combination, the workload and other indexes aremeasured through NASA-TLX software and Weber’s fraction.