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In nuclear isotope and chemistry laboratories, hot cells and gloveboxesprovide scientists with a controlled and safe environment to performexperiments. Working on experiments in these isolated containment cellsrequires scientists to be physically present. For hot cell work today,scientists manipulate equipment and radioactive material inside through abilateral mechanical control mechanism. Motions produced outside the cell withthe master control levers are mechanically transferred to the internal grippersinside the shielded containment cell. There is a growing need to have thecapability to conduct experiments within these cells remotely. A simple methodto enable remote manipulations within hot cell and glovebox cells is to mounttwo robotic arms inside a box to mimic the motions of human hands. An ARapplication was built in this work to allow a user wearing a Microsoft HoloLens2 headset to teleoperate dual arm manipulators by grasping robotic end-effectordigital replicas in AR from a remote location. In addition to the real-timereplica of the physical robotic arms in AR, the application enables users toview a live video stream attached to the robotic arms and parse a 3D pointcloud of 3D objects in their remote AR environment for better situationalawareness. This work also provides users with virtual fixture to assist inmanipulation and other teleoperation tasks.

Augmented Reality Remote Operation of Dual Arm Manipulators in Hot Boxes