Register now After registration you will be able to apply for this opportunity online.
Conception, Implementation, and Evaluation of a Virtual Simulation Environment for a Teleoperation User Console
We are developing a robotic micro-assembly system consisting of a visuo-haptic user console and an assembly station. To evaluate and refine hardware and control of the console, a VR simulation of the assembly station is needed. Your task would be to implement and evaluate such a simulation framework
In the last few decades, miniaturization has been observed to be one of the main driving forces in various
sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence,
considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used
for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a
robotic assembly station with a visual or visuo-haptic user interface. In the scope of an ongoing research project, we
are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.
In the last few decades, miniaturization has been observed to be one of the main driving forces in various
sectors of industry. Assembling unique prototypes of such small devices is becoming increasingly challenging; hence,
considerable effort has been put into the engineering of flexible, versatile micro-assembly systems, which can be used
for the assembly of a wide range of different micro-systems. Such micro-assembly systems typically combine a
robotic assembly station with a visual or visuo-haptic user interface. In the scope of an ongoing research project, we
are currently developing a novel micro-assembly system with largely increased flexibility and intuitiveness.
On the user side, we have realized a first prototype of a haptic input handle with grasping force
feedback tailored to the highly specific needs of our application, conceptually similar to examples found in the latest
commercial systems. As the assembly side still remains under development, a virtual rendering thereof would
be of great benefit to evaluate and refine both hardware and control of the user side at the current stage. Your
task will be to devise and implement a simulation framework enabling the rendering of the assembly side in a virtual
reality (VR) environment and to interface the framework with our haptic hardware. The thesis will be concluded by
demonstrating functionality of your framework through a small user study revolving around said hardware.
On the user side, we have realized a first prototype of a haptic input handle with grasping force
feedback tailored to the highly specific needs of our application, conceptually similar to examples found in the latest
commercial systems. As the assembly side still remains under development, a virtual rendering thereof would
be of great benefit to evaluate and refine both hardware and control of the user side at the current stage. Your
task will be to devise and implement a simulation framework enabling the rendering of the assembly side in a virtual
reality (VR) environment and to interface the framework with our haptic hardware. The thesis will be concluded by
demonstrating functionality of your framework through a small user study revolving around said hardware.
2021_MT_ConceptionImplementationAndEvaluationOfAVirtualSimulationEnvironmentForATeleoperationUserConsole.pdf
