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Robots assist in many areas that are considered unsafe for humans to operate.For instance, in handling pandemic diseases such as the recent Covid-19outbreak and other outbreaks like Ebola, robots can assist in reaching areasdangerous for humans and do simple tasks such as pick up the correct medicine(among a set of bottles prescribed) and deliver to patients. In such cases, itmight not be good to rely on the fully autonomous operation of robots. Sincemany mobile robots are fully functional with low-level tasks such as grabbingand moving, we consider the mixed-initiative control where the user can guidethe robot remotely to finish such tasks. For this mixed-initiative control, theuser controlling the robot needs to visualize a 3D scene as seen by the robotand guide it. Mixed reality can virtualize reality and immerse users in the 3Dscene that is reconstructed from the real-world environment. This techniqueprovides the user more freedom such as choosing viewpoints at view time. Inrecent years, benefiting from the high-quality data from Light Detection andRanging (LIDAR) and RGBD cameras, mixed reality is widely used to buildnetworked platforms to improve the performance of robot teleoperations androbot-human collaboration, and enhanced feedback for mixed-initiative control.In this paper, we proposed a novel haptic-enabled mixed reality system, thatprovides haptic interfaces to interact with the virtualized environments andgive remote guidance for mobile robots towards high-level tasks. Theexperimental results show the effectiveness and flexibility of the proposedhaptic enabled mixed reality system.

Haptic-enabled Mixed Reality System for Mixed-initiative Remote Robot Control