Visually and haptically augmented teleoperation in D&D tasks using virtual fixtures

Hyosig Kang*, Young S. Park, Thomas F. Ewing, Eric Faulring, J. Edward Colgate

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

11 Scopus citations


This paper describes the enhanced teleoperation in order to improve productivity while reducing risk to human workers from hazardous environment in Decontamination and Decommissioning (D&D) tasks. Due to the difficulty of perceiving the three-dimensional environment with two-dimensional video display, one of the most difficult tasks is to place the tool on the target objects while maintaining proper alignment. To alleviate such difficulty and thus enhance the performance of such three-dimensional tasks, this paper presents the implementation of 'virtual fixture', which may provide passive constraint to the motion of the human operator during teleoperation. Virtual fixtures are implemented first by visually, and then haptical fixture was implemented adopting a proprietary Cobot technology. In this preliminary study, it was found that the virtual fixtures could improve accuracy and time for performing the tasks.

Original languageEnglish (US)
Pages (from-to)466-471
Number of pages6
JournalConference on Robotics and Remote Systems- Proceedings
StatePublished - 2004
Externally publishedYes
Event10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States
Duration: Mar 28 2004Mar 31 2004

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Nuclear Energy and Engineering
  • General Engineering
  • Electrical and Electronic Engineering


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