Design of a graphical user interface to augment a telerobotic stereo-vision system

Telerobotics is a multidisciplinary area that aims at extending eye-hand motion co-ordination through a distance using real-time wired or wireless computer networks. It uses a master arm to describe hand motion, slave arm to reproduce hand motion, and stereo vision, haptic and force feedback to extend human depth perception and senses. Some of the telerobotic applications are operating in deep space, underwater, nano and micro scales, carrying out surgery inside the patient body, etc. One of the most critical problems of such system is the communication delay that often causes teleoperation instability. In this work, an Augmented Reality (AR)-based telerobotic system is proposed that allows developing and validating a teleoperation plan by superimposing some virtual objects onto the real video image of the workspace. The plan substitutes frequent low-level interactions between the user and the remote site by sending only the finalized data and thus, reduces real-time network interactions. (Abstract shortened by UMI.)...