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，例如表面处理（擦拭、抛光、磨损、打磨等），特别是当所涉及物体的位置未知或由于它们正在移动而高度不准确时，需要高度的灵活性，例如汽车工业生产线中的车身。这些应用需要人类的适应性和机器人的准确性。然而，由于安全问题，在大多数情况下共享同一工作空间是不可能的。因此，本工作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。人类操作员通过触觉反馈获得触觉，而使用动作捕捉设备可以实现更自然的动作。还引入了视觉反馈辅助来增强沉浸感。 Baxter 双臂机器人用于提供更大的灵活性和可操作性，允许同时执行两个独立的操作。已经进行了多项测试来评估所提议的系统。实验结果表明，由于所提出的远程操作方法，任务持续时间减少了，整体性能提高了。