Haptic interfaces for the remote control of mobile robots

摘要

Teleoperation of mobile robots benefits from the extension of the sensor capabilities by force feedback. Usually telerobotic applications provide to the remote user images and navigation sensor data. With additional force feedback, not only visual but also haptic interfaces provide inputs to the teleoperator in order to improve the remote control performance. This paper describes the hard- and software implementation for controlling a mobile robot over the Internet by the use of a force feedback joystick.