IEEE Robotics & Automation Magazine - September 2023 - 56
Touching
the Sound
Audible Features Enable Haptics for Robot Control
By Hongshen Shi , Matteo Russo, Juan de la Torre,
Abdelkhalick Mohammad , Xin Dong , and Dragos Axinte
Haptic control interfaces can significantly improve the quality
of teleoperation in robotic and mechatronic systems. However,
the required force feedback introduces new challenges when
highly constrained environments and systems hinder the use of
conventional force sensors. In this article, we propose a haptic
control method that provides feedback to the operator when
force data can be extracted from a sound signal. Since sound
Digital Object Identifier 10.1109/MRA.2022.3225718
Date of current version: 12 December 2022
56 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
can be acquired by a microphone deployed outside the workspace,
this method enables remote feedback in any process that
can be characterized through acoustic emissions (e.g. machining),
without the need for sensors embedded in the system and
deployed in the work environment. The performance of the
method is verified by an example application with a teleoperated
robot that executes a machining process (milling and grinding),
whose sound is acquired with a microphone and
processed to successfully estimate the machining force for
haptic feedback.
1070-9932/22©2022IEEE
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IEEE Robotics & Automation Magazine - September 2023
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