A Scalable Framework for Multi-Robot Tele-Impedance Control

In this article, we present an online scalable tele-impedance framework, which enables the individual and collaborative control of multiple different robotic platforms. The framework provides intuitive low-cost interface with visual feedback a SpaceMouse, through operator can define desired task-level trajectories impedance profiles. With simple mouse click, user switch between robots operation mode. control, subsequently, manages distribution required parameters into involved robots. Thanks to introduced virtual hand concept, where each robot is defined as finger, new be easily added or removed via their kinodynamic parameters. proposed was evaluated three experiments: simulated auscultation on mock-up patient, cooperative task drives patient wheelchair performs auscultation, two relocate container. results demonstrate capabilities in terms adaptability platforms, number involved, requirements. Additionally, quantitative subjective analysis 12 subjects showed how developed interface, even presence inaccurate feedback, allowed smooth accurate execution tasks.