Multi-Phase Multi-Modal Haptic Teleoperation
Maximilian Mühlbauer,Franz Steinmetz,Freek Stulp,Thomas Hulin,Alin Albu-Schäffer,Maximilian Mühlbauer,Franz Steinmetz,Freek Stulp,Thomas Hulin,Alin Albu-Schäffer
Virtual Fixtures facilitate teleoperation, for in-stance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections. We observed that many assembly operations can be split into different phases - approaching, positi...
