Teleoperation

We employ the Sarcos Dextrous Arm Telemanipulator System for general teleoperation studies. One issue of interest is verification of virtual environments. While much work has gone into the design of virtual environments such as for predictor displays, hardly any effort has gone into quantifying how well these models represent reality. In telerobotics, the reality is a slave robot working in a remote environment. Therefore the predictor display has to have a good model of both the slave and its remote environment. One important use for the Dextrous Arm Slave will be to validate simulation models. Moreover, the Slave can help to build or modify the virtual environment model by performing mechanical experiments of probing and touching. In essence, the Slave may be considered as a remote contact sensor.