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Haptic Field and Force Feedback Generation for Wheeled Vehicle Teleoperation on 2.5D Environments

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Intelligent Autonomous Systems 18 (IAS 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 795))

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Abstract

Path drawing in a complex 2.5D environment in mobile robot navigation can be challenging, significantly when a horizon-parallel camera orientation hampers distance perception. This paper presents an innovative method of addressing this issue by creating a haptic field to provide remote operators with tactile feedback about the environment, enhancing their spatial awareness. Although rendering haptic feedback with point cloud data (PCD) from LiDAR is typically used, it is harsh to deliver dense data due to the bandwidth limitations of the remote networks. This paper proposes a method for creating a haptic field that compresses only the information necessary to distinguish the surrounding environment from primitive PCD and deliver it to the remote operator. The process for rendering continuous haptic feedback from low-resolution haptic fields is also proposed. In the experiment that provided repulsive feedback for obstacles and the bumpy extent of the road surface, the haptic feedback shows that the remote controller helped draw a path similar to the one directly controlled in the field.

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Acknowledgements

This research was supported by Field-oriented Technology Development Project for Customs Administration through the National Research Foundation of Korea (NRF), funded by the Ministry of Science and ICT and Korea Customs Service (2022M3I1A1095075).

Author information

Authors and Affiliations

  1. Department of Civil and Environmental Engineering, KAIST, Daejeon, 34141, Korea

    Yongjun Kim & Jee-Hwan Ryu

  2. Robotics Program, KAIST, Daejeon, 34141, Korea

    Donghyeon Kim

Authors
  1. Yongjun Kim
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  2. Donghyeon Kim
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  3. Jee-Hwan Ryu
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Corresponding author

Correspondence to Yongjun Kim .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Kyung Hee University, Yongin-si, Korea (Republic of)

    Soon-Geul Lee

  2. Department of Interdisciplinary Engineering, Daegu Gyeongbuk Institute of Science and DGIST R4-708, Daegu, Korea (Republic of)

    **ung An

  3. School of Information Science, Human Information Science Research Area, Japan Advanced Institute of Science and Technology, Ishikawa, Japan

    Nak Young Chong

  4. DHBW Karlsruhe, Cooperative State University Baden-Wuerttemberg Karlsruhe, Karlsruhe, Germany

    Marcus Strand

  5. Department of Mechanical and Aerospace Engineering, New York University, New York, NY, USA

    Joo H. Kim

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Kim, Y., Kim, D., Ryu, JH. (2024). Haptic Field and Force Feedback Generation for Wheeled Vehicle Teleoperation on 2.5D Environments. In: Lee, SG., An, J., Chong, N.Y., Strand, M., Kim, J.H. (eds) Intelligent Autonomous Systems 18. IAS 2023. Lecture Notes in Networks and Systems, vol 795. Springer, Cham. https://doi.org/10.1007/978-3-031-44851-5_7

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