Evaluation of tracking algorithms for haptic feedback rendering techniques applied to micro-sized agents
Haptic force feedback is widely considered to be a valuable navigation tool in robotic teleoperation. It is in charge of providing the human operator with information about the forces exerted at the slave side of the system. When teleoperating a micro-agent, a tracking algorithm is in charge of detecting the position of the controlled agent at run time. The haptic interface should then provide force feedback about the interaction between the microagent and the remote environment, enabling the user to complete the considered task in a faster and more accurate way. However, uncertainties in the tracking algorithm can significantly affect the applicability of the haptic feedback.
Project: In this project, it is necessary to investigate the requirements of a tracking algorithm to be safely used together with a haptic interface.