Haptic Controller for Mobile Machine Teleoperation

Jani E. Heikkinen(1*), Heikki M. Handroos(2)

(1) Lappeenranta University of Technology (LUT), Finland
(2) Lappeenranta University of Technology (LUT), Finland
(*) Corresponding author


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Abstract


Commercially available haptic interfaces are suitable for many purposes. They are, however, lacking features needed in the use of teleoperation of mobile working machines like mining and container handling equipment. The differing requirements range from mechanics and electronics to user issues and control systems. Also the need for a device both commercially viable and suitable for several different mobile working machines was a requirement. This paper presents a haptic controller capable of utilizing a wide variety of haptic feedback on the drivers of teleoperated machines. A device, simple and robust in structure, provides the tools for operation of different machines, using a real-time simulator and augmented reality. A real-time simulator environment was used in all phases of design and research, from the initial concept testing up to the user tests, verifying the functionality of the system. The research provided further information for the purpose of making a commercial version of this haptic device.
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Keywords


Haptics; Mobile Machine; Force Feedback; Virtual Reality (VR); Real-Time Simulator; Virtual Reality Peripheral Network (VRPN); Rubber Tyred Gantry (RTG)

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