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In this work, we propose a novel mobile rescue robot equipped with animmersive stereoscopic teleperception and a teleoperation control. This robotis designed with the capability to perform safely a casualty-extractionprocedure. We have built a proof-of-concept mobile rescue robot called ResQbotfor the experimental platform. An approach called "loco-manipulation" is usedto perform the casualty-extraction procedure using the platform. Theperformance of this robot is evaluated in terms of task accomplishment andsafety by conducting a mock rescue experiment. We use a custom-made human-sizeddummy that has been sensorised to be used as the casualty. In terms of safety,we observe several parameters during the experiment including impact force,acceleration, speed and displacement of the dummy's head. We also compare theperformance of the proposed immersive stereoscopic teleperception toconventional monocular teleperception. The results of the experiments show thatthe observed safety parameters are below key safety thresholds which couldpossibly lead to head or neck injuries. Moreover, the teleperception comparisonresults demonstrate an improvement in task-accomplishment performance when theoperator is using the immersive teleperception.

ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction