Embodied Robot Teleoperation Based on High-Fidelity Visual-Haptic Simulator: Pipe-Fitting Example
Publication: Journal of Construction Engineering and Management
Volume 149, Issue 12
Abstract
Robot teleoperation, a control method allowing human operators to manipulate robotic systems remotely, has become increasingly popular in construction applications. A significant challenge is the disconnection between the robot sensor data and the human operator’s sensory processes, creating a sensorimotor mismatch in motor-intensive activities. This disconnection is particularly challenging in motor-intensive activities that require accurate perception and response. Researchers have started investigating haptic interactions to enhance the control feedback loop, including simulating contacts, motions, and tactile input. However, although current methodologies have advanced the field, they often focused on certain aspects and could be further expanded to provide a more comprehensive simulation of the physical interaction that occurs in typical construction operations. This study designs and tests a comprehensive high-fidelity embodied teleoperation method that simulates complete real-world physical processes via the physics engine. The proposed method captures all categories of physical interaction in typical motor-intensive construction tasks, including weight, texture, inertia, impact, balance, rotation, and spring. A human-subject experiment shows that the proposed method substantially improves performance and human functions in a teleoperated pipe-fitting task. The results indicate that the proposed multisensory augmentation method significantly enhances performance and user experience, offering valuable insights for designing innovative robot teleoperation systems for future construction applications.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
All data, models, or code generated or used during the study are available from the corresponding author by request.
Acknowledgments
This material is supported by the National Science Foundation (NSF) under Grant No. 2024784 and the National Aeronautics and Space Administration (NASA) under Grant No. 80NSSC21K0845. Any opinions, findings, conclusions, or recommendations expressed in this article are those of the authors and do not reflect the views of the NSF or NASA.
References
Al-Mouhamed, M. A., M. Nazeeruddin, and N. Merah. 2008. “Design and instrumentation of force feedback in telerobotics.” IEEE Trans. Instrum. Meas. 58 (6): 1949–1957. https://doi.org/10.1109/TIM.2008.2005858.
Arevalo Arboleda, S., F. Rücker, T. Dierks, and J. Gerken. 2021. “Assisting manipulation and grasping in robot teleoperation with augmented reality visual cues.” In Proc., 2021 CHI Conf. on Human Factors in Computing Systems, 1–14. New York: Association for Computing Machinery.
Aristidou, A., J. Lasenby, Y. Chrysanthou, and A. Shamir. 2018. “Inverse kinematics techniques in computer graphics: A survey.” In Proc., Computer Graphics Forum, 35–58. New York: Wiley.
Ayachi, R., Y. Said, and M. Atri. 2021. “A convolutional neural network to perform object detection and identification in visual large-scale data.” Big Data 9 (1): 41–52. https://doi.org/10.1089/big.2019.0093.
Bekiroglu, Y., J. Laaksonen, J. A. Jorgensen, V. Kyrki, and D. Kragic. 2011. “Assessing grasp stability based on learning and haptic data.” IEEE Trans. Rob. 27 (3): 616–629. https://doi.org/10.1109/TRO.2011.2132870.
Bimbo, J., C. Pacchierotti, M. Aggravi, N. Tsagarakis, and D. Prattichizzo. 2017. “Teleoperation in cluttered environments using wearable haptic feedback.” In Proc., Int. Conf. on Intelligent Robots and Systems (IROS), 3401–3408. New York: IEEE.
Birznieks, I., P. Jenmalm, A. W. Goodwin, and R. S. Johansson. 2001. “Encoding of direction of fingertip forces by human tactile afferents.” J. Neurosci. 21 (20): 8222–8237. https://doi.org/10.1523/JNEUROSCI.21-20-08222.2001.
Biswas, S., and Y. Visell. 2021. “Haptic perception, mechanics, and material technologies for virtual reality.” Adv. Funct. Mater. 31 (39): 2008186. https://doi.org/10.1002/adfm.202008186.
Boessenkool, H., D. Abbink, C. Heemskerk, M. Steinbuch, M. De Baar, J. Wildenbeest, D. Ronden, and J. Koning. 2013. “Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR.” Fusion Eng. Des. 88 (9–10): 2164–2167. https://doi.org/10.1016/j.fusengdes.2013.02.064.
Bolopion, A., G. Millet, C. Pacoret, and S. Régnier. 2013. “Haptic feedback in teleoperation in micro-and nanoworlds.” Rev. Hum. Factors Ergon. 9 (1): 57–93. https://doi.org/10.1177/1557234X13503293.
Bonci, A., P. D. Cen Cheng, M. Indri, G. Nabissi, and F. Sibona. 2021. “Human-robot perception in industrial environments: A survey.” Sensors 21 (5): 1571. https://doi.org/10.3390/s21051571.
Bozkir, E., P. Bimbo, H. Gao, L. Hasenbein, J.-U. Hahn, E. Kasneci, and R. Göllner. 2021. “Exploiting object-of-interest information to understand attention in VR classrooms.” In Proc., 2021 IEEE Virtual Reality and 3D User Interfaces (VR), 597–605. New York: IEEE.
Braganza, D., M. L. McIntyre, D. M. Dawson, and I. D. Walker. 2006. “Whole arm grasping control for redundant robot manipulators.” In Proc., 2006 American Control Conf., 1–6. New York: IEEE.
Brizzi, F., L. Peppoloni, A. Graziano, E. Di Stefano, C. A. Avizzano, and E. Ruffaldi. 2017. “Effects of augmented reality on the performance of teleoperated industrial assembly tasks in a robotic embodiment.” IEEE Trans. Hum.-Mach. Syst. 48 (2): 197–206. https://doi.org/10.1109/THMS.2017.2782490.
Burdea, G., and J. Zhuang. 1991. “Dextrous telerobotics with force feedback—An overview. Part 1: Human factors.” Robotica 9 (2): 171–178. https://doi.org/10.1017/S0263574700010213.
Caiza, G., C. A. Garcia, J. E. Naranjo, and M. V. Garcia. 2020. “Flexible robotic teleoperation architecture for intelligent oil fields.” Heliyon 6 (4): e03833. https://doi.org/10.1016/j.heliyon.2020.e03833.
Camponogara, I., and R. Volcic. 2019. “Grasping movements toward seen and handheld objects.” Sci. Rep. 9 (1): 1–8. https://doi.org/10.1038/s41598-018-38277-w.
Charness, G., U. Gneezy, and M. A. Kuhn. 2012. “Experimental methods: Between-subject and within-subject design.” J. Econ. Behav. Organ. 81 (1): 1–8. https://doi.org/10.1016/j.jebo.2011.08.009.
Chen, J. Y., E. C. Haas, and M. J. Barnes. 2007. “Human performance issues and user interface design for teleoperated robots.” IEEE Trans. Syst. Man Cybern. Part C Appl. Rev. 37 (6): 1231–1245. https://doi.org/10.1109/TSMCC.2007.905819.
Dangxiao, W., G. Yuan, L. Shiyi, Y. Zhang, X. Weiliang, and X. Jing. 2019. “Haptic display for virtual reality: Progress and challenges.” Virtual Reality Intell. Hardware 1 (2): 136–162. https://doi.org/10.3724/SP.J.2096-5796.2019.0008.
Darvish, K., L. Penco, J. Ramos, R. Cisneros, J. Pratt, E. Yoshida, S. Ivaldi, and D. Pucci. 2023. “Teleoperation of humanoid robots: A survey.” Preprint, submitted January 11, 2023. https://arxiv.org/abs/2301.04317.
Davila Delgado, J. M., L. Oyedele, A. Ajayi, L. Akanbi, O. Akinade, M. Bilal, and H. Owolabi. 2019. “Robotics and automated systems in construction: Understanding industry-specific challenges for adoption.” J. Build. Eng. 26 (Nov): 100868. https://doi.org/10.1016/j.jobe.2019.100868.
Drury, J. L., J. Scholtz, and H. A. Yanco. 2003. “Awareness in human-robot interactions.” In Proc., SMC’03 Conf. Proc. 2003 IEEE Int. Conf. on Systems, Man and Cybernetics. Conf. Theme-System Security and Assurance (Cat. No. 03CH37483), 912–918. New York: IEEE.
Edin, B. B., and N. Johansson. 1995. “Skin strain patterns provide kinaesthetic information to the human central nervous system.” J. Physiol. 487 (1): 243–251. https://doi.org/10.1113/jphysiol.1995.sp020875.
El Rassi, I., and J.-M. El Rassi. 2020. “A review of haptic feedback in tele-operated robotic surgery.” J. Med. Eng. Technol. 44 (5): 247–254. https://doi.org/10.1080/03091902.2020.1772391.
Fang, B., F. Sun, H. Liu, and D. Guo. 2017. “A novel data glove using inertial and magnetic sensors for motion capture and robotic arm-hand teleoperation.” Ind. Robot 44 (2): 155–165. https://doi.org/10.1108/IR-07-2016-0179.
Fujimoto, K., F. Kobayashi, H. Nakamoto, and F. Kojima. 2013. “Development of haptic device for five-fingered robot hand teleoperation.” In Proc., Int. Symp. on System Integration, 820–825. New York: IEEE.
Gao, Y., J. Meng, J. Shu, and Y. Liu. 2022. “BIM-based task and motion planning prototype for robotic assembly of COVID-19 hospitalisation light weight structures.” Autom. Constr. 140 (Aug): 104370. https://doi.org/10.1016/j.autcon.2022.104370.
Gong, Y., H. M. Husin, E. Erol, V. Ortenzi, and K. J. Kuchenbecker. 2023. “Haptic feedback of tool vibrations facilitates telerobotic construction.” Preprint, submitted February 1, 2023. https://arxiv.org/abs/2302.00741.
Goodman, S. 2008. “A dirty dozen: Twelve p-value misconceptions.” In Proc., Seminars in Hematology, 135–140. Amsterdam, Netherlands: Elsevier.
Goodrich, M. A., and A. C. Schultz. 2008. “Human-robot interaction: A survey.” In Foundations and trends in human—Computer interaction. Delft, Netherlands: Now Publishers.
Görsch, C., O. Seppänen, A. Peltokorpi, and R. Lavikka. 2020. “Construction workers’ situational awareness—An overlooked perspective.” In Proc., Annual Conf. of the Int. Group for Lean Construction (IGLC), 937–948. Berkeley, CA: International Group for Lean Construction Community.
Gwilliam, J. C., M. Mahvash, B. Vagvolgyi, A. Vacharat, D. D. Yuh, and A. M. Okamura. 2009. “Effects of haptic and graphical force feedback on teleoperated palpation.” In Proc., 2009 IEEE Int. Conf. on Robotics and Automation, 677–682. New York: IEEE.
Handa, A., K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox. 2020. “Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system.” In Proc., 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), 9164–9170. New York: IEEE.
Hart, S. G., and L. E. Staveland. 1988. “Development of NASA-TLX (task load index): Results of empirical and theoretical research.” In Advances in psychology, 139–183. Amsterdam, Netherlands: Elsevier.
Hartmann, V. N., A. Orthey, D. Driess, O. S. Oguz, and M. Toussaint. 2021. “Long-horizon multi-robot rearrangement planning for construction assembly.” Preprint, submitted June 4, 2021. https://arxiv.org/abs/2106.02489.
Hayward, V., O. R. Astley, M. Cruz-Hernandez, D. Grant, and G. Robles-De-La-Torre. 2004. “Haptic interfaces and devices.” Sens. Rev. 24 (1): 16–29. https://doi.org/10.1108/02602280410515770.
Higashimori, M., M. Kaneko, A. Namiki, and M. Ishikawa. 2005. “Design of the 100G capturing robot based on dynamic preshaping.” Int. J. Rob. Res. 24 (9): 743–753. https://doi.org/10.1177/0278364905057058.
Hirche, S., and M. Buss. 2012. “Human-oriented control for haptic teleoperation.” Proc. IEEE 100 (3): 623–647. https://doi.org/10.1109/JPROC.2011.2175150.
Hokayem, P. F., and M. W. Spong. 2006. “Bilateral teleoperation: An historical survey.” Automatica 42 (12): 2035–2057. https://doi.org/10.1016/j.automatica.2006.06.027.
Horie, A., M. H. D. Y. Saraiji, Z. Kashino, and M. Inami. 2021. “EncounteredLimbs: A room-scale encountered-type haptic presentation using wearable robotic arms.” In Proc., 2021 IEEE Virtual Reality and 3D User Interfaces (VR), 260–269. New York: IEEE.
Ichnowski, J., M. Danielczuk, J. Xu, V. Satish, and K. Goldberg. 2020. “GOMP: Grasp-optimized motion planning for bin picking.” In Proc., 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), 5270–5277. New York: IEEE.
Ishida, R., L. Meli, Y. Tanaka, K. Minamizawa, and D. Prattichizzo. 2018. “Sensory-motor augmentation of the robot with shared human perception.” In Proc., Int. Conf. on Intelligent Robots and Systems (IROS). New York: IEEE.
Jiang, P., Y. Ishihara, N. Sugiyama, J. Oaki, S. Tokura, A. Sugahara, and A. Ogawa. 2020. “Depth image–based deep learning of grasp planning for textureless planar-faced objects in vision-guided robotic bin-picking.” Sensors 20 (3): 706. https://doi.org/10.3390/s20030706.
Johnson, K. O. 2001. “The roles and functions of cutaneous mechanoreceptors.” Curr. Opin. Neurobiol. 11 (4): 455–461. https://doi.org/10.1016/S0959-4388(00)00234-8.
Kaminski, J. T., K. Rafatzand, and H. K. Zhang. 2020. “Feasibility of robot-assisted ultrasound imaging with force feedback for assessment of thyroid diseases.” In Vol. 11315 of Proc., Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling. Bellingham, WA: International Society for Optics and Photonics.
Kazanzides, P., B. P. Vagvolgyi, W. Pryor, A. Deguet, S. Leonard, and L. L. Whitcomb. 2021. “Teleoperation and visualization interfaces for remote intervention in space.” Front. Rob. AI 8 (Dec): 747917. https://doi.org/10.3389/frobt.2021.747917.
Kimura, T., D. Nasu, and M. Kashino. 2018. “Utilizing virtual reality to understand athletic performance and underlying sensorimotor processing.” In Proc., Multidisciplinary Digital Publishing Institute, 299. Basel, Switzerland: Multidisciplinary Digital Publishing Institute.
Kinateder, M., E. Ronchi, D. Nilsson, M. Kobes, M. Müller, P. Pauli, and A. Mühlberger. 2014. “Virtual reality for fire evacuation research.” In Proc., 2014 Federated Conf. on Computer Science and Information Systems, 313–321. New York: IEEE.
Kohn, S. C., E. J. De Visser, E. Wiese, Y.-C. Lee, and T. H. Shaw. 2021. “Measurement of trust in automation: A narrative review and reference guide.” Front. Psychol. 12 (Oct): 604977. https://doi.org/10.3389/fpsyg.2021.604977.
Kokic, M., D. Kragic, and J. Bohg. 2019. “Learning to estimate pose and shape of hand-held objects from RGB images.” In Proc., Int. Conf. on Intelligent Robots and Systems (IROS), 3980–3987. New York: IEEE.
Lederman, S. J., and R. L. Klatzky. 2009. “Haptic perception: A tutorial.” Attention Percept. Psychophysics 71 (7): 1439–1459. https://doi.org/10.3758/APP.71.7.1439.
Lee Pazuchanics, S. 2006. “The effects of camera perspective and field of view on performance in teleoperated navigation.” In Proc., Human Factors and Ergonomics Society Annual Meeting, 1528–1532. Los Angeles: SAGE.
Lelevé, A., T. McDaniel, and C. Rossa. 2020. “Haptic training simulation.” Front. Virtual Reality 1 (Jul): 3. https://doi.org/10.3389/frvir.2020.00003.
Li, S., R. Rameshwar, A. M. Votta, and C. D. Onal. 2019. “Intuitive control of a robotic arm and hand system with pneumatic haptic feedback.” IEEE Rob. Autom. Lett. 4 (4): 4424–4430. https://doi.org/10.1109/LRA.2019.2937483.
Liu, H., and L. Wang. 2018. “Gesture recognition for human-robot collaboration: A review.” Int. J. Ind. Ergon. 68 (Nov): 355–367. https://doi.org/10.1016/j.ergon.2017.02.004.
Liu, Y., M. Habibnezhad, and H. Jebelli. 2021. “Brain-computer interface for hands-free teleoperation of construction robots.” Autom. Constr. 123 (Mar): 103523. https://doi.org/10.1016/j.autcon.2020.103523.
Liu, Z., J. Tan, G. Duan, and Y. Fu. 2015. “Force feedback coupling with dynamics for physical simulation of product assembly and operation performance.” Chin. J. Mech. Eng. 28 (1): 164–172. https://doi.org/10.3901/CJME.2014.1020.158.
Martin, S., and N. Hillier. 2009. “Characterisation of the Novint Falcon haptic device for application as a robot manipulator.” In Proc., Australasian Conf. on Robotics and Automation (ACRA), 291–292. Sydney, NSW, Australia: Australian Robotics and Automation Association.
Merritt, S. M. 2011. “Affective processes in human–automation interactions.” Hum. Factors 53 (4): 356–370. https://doi.org/10.1177/0018720811411912.
Moody, L., C. Baber, and T. N. Arvanitis. 2002. “Objective surgical performance evaluation based on haptic feedback.” In Studies in health technology and informatics, 304–310. Amsterdam, Netherlands: IOS Press.
Nachar, N. 2008. “The Mann-Whitney U: A test for assessing whether two independent samples come from the same distribution.” Tutorials Quant. Methods Psychol. 4 (1): 13–20. https://doi.org/10.20982/tqmp.04.1.p013.
Nagano, H., H. Takenouchi, N. Cao, M. Konyo, and S. Tadokoro. 2020. “Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots.” Adv. Rob. 34 (11): 730–743. https://doi.org/10.1080/01691864.2020.1769725.
Pacchierotti, C., L. Meli, F. Chinello, M. Malvezzi, and D. Prattichizzo. 2015a. “Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems.” Int. J. Rob. Res. 34 (14): 1773–1787. https://doi.org/10.1177/0278364915603135.
Pacchierotti, C., F. Ongaro, F. van den Brink, C. Yoon, D. Prattichizzo, D. H. Gracias, and S. Misra. 2017. “Steering and control of miniaturized untethered soft magnetic grippers with haptic assistance.” IEEE Trans. Autom. Sci. Eng. 15 (1): 290–306. https://doi.org/10.1109/TASE.2016.2635106.
Pacchierotti, C., D. Prattichizzo, and K. J. Kuchenbecker. 2015b. “Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery.” IEEE Trans. Biomed. Eng. 63 (2): 278–287. https://doi.org/10.1109/TBME.2015.2455932.
Pacchierotti, C., S. Scheggi, D. Prattichizzo, and S. Misra. 2016. “Haptic feedback for microrobotics applications: A review.” Front. Rob. AI 3 (Aug): 53. https://doi.org/10.3389/frobt.2016.00053.
Paquet, V., L. Punnett, S. Woskie, and B. Buchholz. 2005. “Reliable exposure assessment strategies for physical ergonomics stressors in construction and other non-routinized work.” Ergonomics 48 (9): 1200–1219. https://doi.org/10.1080/00140130500197302.
Peternel, L., N. Tsagarakis, and A. Ajoudani. 2017. “A human–robot co-manipulation approach based on human sensorimotor information.” IEEE Trans. Neural Syst. Rehabil. Eng. 25 (7): 811–822. https://doi.org/10.1109/TNSRE.2017.2694553.
Pierrot, F., E. Dombre, E. Dégoulange, L. Urbain, P. Caron, S. Boudet, J. Gariépy, and J.-L. Mégnien. 1999. “Hippocrate: A safe robot arm for medical applications with force feedback.” Med. Image Anal. 3 (3): 285–300. https://doi.org/10.1016/S1361-8415(99)80025-5.
Pinskier, J., B. Shirinzadeh, L. Clark, Y. Qin, and S. Fatikow. 2016. “Design, development and analysis of a haptic-enabled modular flexure-based manipulator.” Mechatronics 40 (Dec): 156–166. https://doi.org/10.1016/j.mechatronics.2016.10.004.
Pinto, L., and A. Gupta. 2016. “Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours.” In Proc., 2016 IEEE Int. Conf. on Robotics and Automation (ICRA), 3406–3413. New York: IEEE.
Pittman, C., and J. J. LaViola Jr. 2014. “Exploring head tracked head mounted displays for first person robot teleoperation.” In Proc., 19th Int. Conf. on Intelligent User Interfaces, 323–328. New York: Association for Computing Machinery.
Pouliot, N., and S. Montambault. 2008. “Geometric design of the LineScout, a teleoperated robot for power line inspection and maintenance.” In Proc., 2008 IEEE Int. Conf. on Robotics and Automation, 3970–3977. New York: IEEE.
Qian, Q., D. Osada, Y. Ishibashi, P. Huang, and Y. Tateiwa. 2020. “Human perception of force in cooperation between remote robot systems with force feedback.” Int. J. Mech. Eng. Rob. Res. 9 (2).
Riaz, M., M. R. Hashmi, H. Kalsoom, D. Pamucar, and Y.-M. Chu. 2020. “Linear Diophantine fuzzy soft rough sets for the selection of sustainable material handling equipment.” Symmetry 12 (8): 1215. https://doi.org/10.3390/sym12081215.
Roja, Z., H. Kalkis, I. Reinholds, and A. Cekuls. 2016. “Ergonomics risk analysis in construction operations.” Agron. Res. 14 (1): 211–219.
Sallnäs, E.-L., K. Rassmus-Gröhn, and C. Sjöström. 2000. “Supporting presence in collaborative environments by haptic force feedback.” ACM Trans. Comput.-Hum. Interact. 7 (4): 461–476. https://doi.org/10.1145/365058.365086.
Sheridan, T. B. 2016. “Human–robot interaction: Status and challenges.” Hum. Factors 58 (4): 525–532. https://doi.org/10.1177/0018720816644364.
Shimojo, M., T. Araki, A. Ming, and M. Ishikawa. 2010. “A high-speed mesh of tactile sensors fitting arbitrary surfaces.” IEEE Sens. J. 10 (4): 822–830. https://doi.org/10.1109/JSEN.2009.2034982.
Singh, J., A. R. Srinivasan, G. Neumann, and A. Kucukyilmaz. 2020. “Haptic-guided teleoperation of a 7-DOF collaborative robot arm with an identical twin master.” IEEE Trans. Haptic 13 (1): 246–252. https://doi.org/10.1109/TOH.2020.2971485.
Talhan, A., and S. Jeon. 2017. “Pneumatic actuation in haptic-enabled medical simulators: A review.” IEEE Access 6 (Dec): 3184–3200. https://doi.org/10.1109/ACCESS.2017.2787601.
Taylor, R. M. 2017. “Situational awareness rating technique (SART): The development of a tool for aircrew systems design.” In Situational awareness, 111–128. London: Routledge.
Tokatli, O., P. Das, R. Nath, L. Pangione, A. Altobelli, G. Burroughes, E. T. Jonasson, M. F. Turner, and R. Skilton. 2021. “Robot-assisted glovebox teleoperation for nuclear industry.” Robotics 10 (3): 85. https://doi.org/10.3390/robotics10030085.
Tsai, C.-Y., C.-C. Wong, C.-J. Yu, C.-C. Liu, and T.-Y. Liu. 2014. “A hybrid switched reactive-based visual servo control of 5-DOF robot manipulators for pick-and-place tasks.” IEEE Syst. J. 9 (1): 119–130. https://doi.org/10.1109/JSYST.2014.2358876.
Walker, M. E., H. Hedayati, and D. Szafir. 2019. “Robot teleoperation with augmented reality virtual surrogates.” In Proc., 2019 14th ACM/IEEE Int. Conf. on Human-Robot Interaction (HRI), 202–210. New York: IEEE.
Weber, B., R. Balachandran, C. Riecke, F. Stulp, and M. Stelzer. 2019. “Teleoperating robots from the international space station: Microgravity effects on performance with force feedback.” In Proc., Int. Conf. on Intelligent Robots and Systems (IROS), 8144–8150. New York: IEEE.
White, B. Y. 1984. “Designing computer games to help physics students understand Newton’s laws of motion.” Cognit. Instr. 1 (1): 69–108. https://doi.org/10.1207/s1532690xci0101_4.
Yang, G., H. Lv, Z. Zhang, L. Yang, J. Deng, S. You, J. Du, and H. Yang. 2020. “Keep healthcare workers safe: Application of teleoperated robot in isolation ward for COVID-19 prevention and control.” Chin. J. Mech. Eng. 33 (1): 1–4.
Yew, A. W. W., S. K. Ong, and A. Y. C. Nee. 2017. “Immersive augmented reality environment for the teleoperation of maintenance robots.” Procedia CIRP 61 (Jan): 305–310. https://doi.org/10.1016/j.procir.2016.11.183.
Yin, D., Y. Chen, H. Jia, Q. Wang, Z. Chen, C. Xu, Q. Li, W. Wang, Y. Yang, and G. Fu. 2021. “Sponge city practice in China: A review of construction, assessment, operational and maintenance.” J. Cleaner Prod. 280 (Jan): 124963. https://doi.org/10.1016/j.jclepro.2020.124963.
Zhang, Y., B. K. Chen, X. Liu, and Y. Sun. 2009. “Autonomous robotic pick-and-place of microobjects.” IEEE Trans. Rob. 26 (1): 200–207. https://doi.org/10.1109/TRO.2009.2034831.
Zhou, M., and P. Ben-Tzvi. 2014. “RML glove—An exoskeleton glove mechanism with haptics feedback.” IEEE/ASME Trans. Mechatron. 20 (2): 641–652. https://doi.org/10.1109/TMECH.2014.2305842.
Zhou, T., Q. Zhu, and J. Du. 2020. “Intuitive robot teleoperation for civil engineering operations with virtual reality and deep learning scene reconstruction.” Adv. Eng. Inf. 46 (Oct): 101170. https://doi.org/10.1016/j.aei.2020.101170.
Zhu, Q., T. Zhou, and J. Du. 2022a. “Haptics-based force balance controller for tower crane payload sway controls.” Autom. Constr. 144 (Dec): 104597. https://doi.org/10.1016/j.autcon.2022.104597.
Zhu, Q., T. Zhou, and J. Du. 2022b. “Upper-body haptic system for snake robot teleoperation in pipelines.” Adv. Eng. Inf. 51 (Jan): 101532. https://doi.org/10.1016/j.aei.2022.101532.
Information & Authors
Information
Published In
Journal of Construction Engineering and Management
Volume 149 • Issue 12 • December 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Apr 20, 2023
Accepted: Aug 22, 2023
Published online: Sep 29, 2023
Published in print: Dec 1, 2023
Discussion open until: Feb 29, 2024
ASCE Technical Topics:
- Automation and robotics
- Business management
- Construction engineering
- Construction methods
- Continuum mechanics
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering mechanics
- Engines
- Equipment and machinery
- Human and behavioral factors
- Infrastructure
- Measurement (by type)
- Motion (dynamics)
- Pipeline systems
- Pipes
- Practice and Profession
- Probe instruments
- Sensors and sensing
- Solid mechanics
- Systems engineering
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
Cited by
- Pengxiang Xia, Tianyu Zhou, Yang Ye, Jing Du, Human Autonomy Teaming for ROV Shared Control, Journal of Computing in Civil Engineering, 10.1061/JCCEE5.CPENG-5756, 38, 4, (2024).