High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.

在物体之间存在接触的任务中需要高度的灵巧性，例如表面处理（擦拭、抛光、擦伤、打磨等），特别是当所涉及的物体的位置未知或由于它们移动而高度不准确时，例如汽车工业线中的车身。这些应用需要人类的适应性和机器人的准确性。但是，由于安全问题，在大多数情况下无法共享同一个工作空间。因此，在这项工作中引入了结合触觉和惯性运动捕捉系统的多模式远程操作系统。由于触觉反馈，人类操作员获得了触觉，而使用动作捕捉设备可以实现更自然的运动。还引入了视觉反馈辅助以增强沉浸感。Baxter 双臂机器人用于提供更大的灵活性和机动性，允许同时执行两个独立的操作。已经进行了几项测试来评估所提出的系统。正如实验结果所示，由于所提出的遥操作方法，任务持续时间减少了，整体性能得到了提高。