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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2508.09700 |
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| _version_ | 1866916896200196096 |
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| author | Hejrati, Mahdi Mattila, Jouni |
| author_facet | Hejrati, Mahdi Mattila, Jouni |
| contents | Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction, mining, and disaster response, immersive interfaces must be rethought to support scalable, safe, and effective human-robot collaboration. This paper investigates the control, cognitive, and interface-level challenges of immersive teleoperation in BHSRMs, with a focus on ensuring operator safety, minimizing sensorimotor mismatch, and enhancing the sense of embodiment. We analyze design trade-offs in haptic and visual feedback systems, supported by early experimental comparisons of exoskeleton- and joystick-based control setups. Finally, we outline key research directions for developing new evaluation tools, scaling strategies, and human-centered safety models tailored to large-scale robotic telepresence. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_09700 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions Hejrati, Mahdi Mattila, Jouni Robotics Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction, mining, and disaster response, immersive interfaces must be rethought to support scalable, safe, and effective human-robot collaboration. This paper investigates the control, cognitive, and interface-level challenges of immersive teleoperation in BHSRMs, with a focus on ensuring operator safety, minimizing sensorimotor mismatch, and enhancing the sense of embodiment. We analyze design trade-offs in haptic and visual feedback systems, supported by early experimental comparisons of exoskeleton- and joystick-based control setups. Finally, we outline key research directions for developing new evaluation tools, scaling strategies, and human-centered safety models tailored to large-scale robotic telepresence. |
| title | Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.09700 |