TelePulse: Enhancing the Teleoperation Experience through Biomechanical Simulation-Based Electrical Muscle Stimulation in Virtual Reality

要旨

This paper introduces TelePulse, a system integrating biomechanical simulation with electrical muscle stimulation (EMS) to provide precise haptic feedback for robot teleoperation tasks in virtual reality (VR). TelePulse has two components: a physical simulation part that calculates joint torques based on real-time force data from remote manipulators, and an electrical stimulation part that converts these torques into muscle stimulation. Two experiments were conducted to evaluate the system. The first experiment assessed the accuracy of EMS generated through biomechanical simulations by comparing it with electromyography (EMG) data during force-directed tasks, while the second experiment evaluated the impact of TelePulse on teleoperation performance during sanding and drilling tasks. The results suggest that TelePulse provided more accurate stimulation across all arm muscles, thereby enhancing task performance and user experience in the teleoperation environment. In this paper, we discuss the effect of TelePulse on teleoperation, its limitations, and areas for future improvement.

受賞
Best Paper
著者
Seokhyun Hwang
University of Washington, Seattle, Washington, United States
Seongjun Kang
Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
Jeongseok Oh
Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
Jeongju Park
Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
Semoo Shin
Human-Centered Intelligent Systems Lab, Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
Yiyue Luo
University of Washington, Seattle, Washington, United States
Joseph DelPreto
Massachusetts Institute of Technology (MIT), Cambridge, Massachusetts, United States
Sangbeom Lee
Gwangju Institute of Science and Technology, Gwangju , Korea, Republic of
Kyoobin Lee
Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
Wojciech Matusik
MIT, Cambridge, Massachusetts, United States
Daniela Rus
Massachusetts Institute of Technology, Cambridge, Massachusetts, United States
SeungJun Kim
Gwangju Institute of Science and Technology, Gwangju, Korea, Republic of
DOI

10.1145/3706598.3713767

論文URL

https://dl.acm.org/doi/10.1145/3706598.3713767

動画

会議: CHI 2025

The ACM CHI Conference on Human Factors in Computing Systems (https://chi2025.acm.org/)

セッション: Embodied Stimulation

Annex Hall F206
7 件の発表
2025-05-01 18:00:00
2025-05-01 19:30:00
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