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Robotic teleoperation is a key technology for a wide variety of applications.It allows sending robots instead of humans in remote, possibly dangerouslocations while still using the human brain with its enormous knowledge andcreativity, especially for solving unexpected problems. A main challenge inteleoperation consists of providing enough feedback to the human operator forsituation awareness and thus create full immersion, as well as offering theoperator suitable control interfaces to achieve efficient and robust taskfulfillment. We present a bimanual telemanipulation system consisting of ananthropomorphic avatar robot and an operator station providing force and hapticfeedback to the human operator. The avatar arms are controlled in Cartesianspace with a 1:1 mapping of the operator movements. The measured forces andtorques on the avatar side are haptically displayed directly to the operator.We developed a predictive avatar model for limit avoidance which runs on theoperator side, ensuring low latency. Only off-the-shelf components were used tobuild the system. It is evaluated in lab experiments and by untrained operatorsin a small user study.

Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance