AntHand: Interaction Techniques for Precise Telerobotic Control Using Scaled Objects in Virtual Environments

Abstract

This paper introduces AntHand, a set of interaction techniques for enhancing precision and adaptability in telerobotics through the use of scaled objects in virtual environments. AntHand operates in three phases: up-scaling interaction, for detailed control through a magnified virtual model; constraining interaction, which locks movement dimensions for accuracy; and post-editing, allowing manipulation trace optimization and noise reduction. Leveraging a use-case related to surgery, the application of AntHand is showcased in a scenario demanding high accuracy and precise manipulation. AntHand demonstrates how collaboration between humans and robots can improve precise control of robot actions in telerobotic operations, while maintaining the familiar use of traditional tools, rather than relying on specialized controllers.