A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture
This paper introduces a generalizable telerobotic solution for the coupling between manual and machine workflow tracks to facilitate the incorporation of personnel-required procedures in lab automation processes. The proposed shape-variable virtual fixture can be generalized for providing synchroniz...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10955455/ |
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| _version_ | 1849722458448330752 |
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| author | Yunze Shi Tengyue Wang Chen Lei Liangjing Yang |
| author_facet | Yunze Shi Tengyue Wang Chen Lei Liangjing Yang |
| author_sort | Yunze Shi |
| collection | DOAJ |
| description | This paper introduces a generalizable telerobotic solution for the coupling between manual and machine workflow tracks to facilitate the incorporation of personnel-required procedures in lab automation processes. The proposed shape-variable virtual fixture can be generalized for providing synchronized dexterous guidance during human interaction with a robotized automation process without disrupting the automated workflow. Accuracy performance evaluation showed that the use of our proposed shape-variable virtual fixture reduced positioning and orientation errors by 50%. Stability and transparency are validated by evaluation of the force profiles during the teleoperation process while interacting with the environment. User experience test based on the NASA-TLX evaluation also indicates reduced workload and task complexity experienced by the subjects of informed consent, suggesting better usability with our proposed method. This study demonstrates the feasibility and usability of the proposed telerobotic approach using shape-variable virtual fixtures for generalized man-robot collaborated workflows. It is envisioned that the work would pave a path for the realization of safer and more intuitive human-robot collaboration while maintaining the efficiency of the ever-increasing task complexity in modern smart laboratories. |
| format | Article |
| id | doaj-art-47c51201977d4f359f017a3308eeb465 |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-47c51201977d4f359f017a3308eeb4652025-08-20T03:11:21ZengIEEEIEEE Access2169-35362025-01-0113752947530410.1109/ACCESS.2025.355888110955455A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual FixtureYunze Shi0https://orcid.org/0009-0007-3946-7184Tengyue Wang1https://orcid.org/0009-0007-9395-0417Chen Lei2https://orcid.org/0009-0008-8233-0500Liangjing Yang3https://orcid.org/0000-0002-3294-0879School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, ChinaSchool of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, ChinaZJUI, International Campus, Zhejiang University, Haining, Zhejiang, ChinaSchool of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, ChinaThis paper introduces a generalizable telerobotic solution for the coupling between manual and machine workflow tracks to facilitate the incorporation of personnel-required procedures in lab automation processes. The proposed shape-variable virtual fixture can be generalized for providing synchronized dexterous guidance during human interaction with a robotized automation process without disrupting the automated workflow. Accuracy performance evaluation showed that the use of our proposed shape-variable virtual fixture reduced positioning and orientation errors by 50%. Stability and transparency are validated by evaluation of the force profiles during the teleoperation process while interacting with the environment. User experience test based on the NASA-TLX evaluation also indicates reduced workload and task complexity experienced by the subjects of informed consent, suggesting better usability with our proposed method. This study demonstrates the feasibility and usability of the proposed telerobotic approach using shape-variable virtual fixtures for generalized man-robot collaborated workflows. It is envisioned that the work would pave a path for the realization of safer and more intuitive human-robot collaboration while maintaining the efficiency of the ever-increasing task complexity in modern smart laboratories.https://ieeexplore.ieee.org/document/10955455/Laboratory automationteleroboticshuman-robot collaborationvariable virtual fixture |
| spellingShingle | Yunze Shi Tengyue Wang Chen Lei Liangjing Yang A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture IEEE Access Laboratory automation telerobotics human-robot collaboration variable virtual fixture |
| title | A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture |
| title_full | A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture |
| title_fullStr | A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture |
| title_full_unstemmed | A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture |
| title_short | A Generalizable Telerobotic Solution for Undisrupted Man-Robot Workflow Coupling via Shape-Variable Virtual Fixture |
| title_sort | generalizable telerobotic solution for undisrupted man robot workflow coupling via shape variable virtual fixture |
| topic | Laboratory automation telerobotics human-robot collaboration variable virtual fixture |
| url | https://ieeexplore.ieee.org/document/10955455/ |
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