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.