Countering Improvised Explosive Devices through a multi-point haptic teleoperation system

摘要

Improvised Explosive Devices (IEDs) are reported as the number one cause of injury and death for allied troops in the current theater of operation. Current stand-off technologies for Counter IED (CIED) tasks rely on robotic platforms that have not improved in capability over the past decade to combat the ever increasing threat of IEDs. While they provide operational capability, the effectiveness of these platforms is limited. This is because they primarily utilise video and audio feedback, and require extensive training and specialist operators. Recent operational experience has demonstrated the need for robotic systems that are highly capable, yet easily operable for high fidelity manipulation. Force feedback provides an operator with more intuitive control of a robotic system. This sense of touch allows an operator to obtain a sense of feel from a stand-off location of what the robot touches or grasps through a human-robot interface. This paper reports the design and development of a Haptically-Enabled Counter IED robotic system that was funded by the Australian Defence Force. The presented work focuses on the design methodology for the system, and provides the results of the manipulator analysis and trial outcomes.