Open Access Book
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Shared Grasping: a Combination of Telepresence and Grasp Planning

Author: Hertkorn, Katharina
Source: Directory of Open Access Books
Publisher: KIT Scientific Publishing
ISBN: 9783731504023
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''Shared Grasping'' describes a new approach to shared autonomy for grasping and manipulation tasks to be used in a telepresence system. It is realized with two assistance functionalities, which simplify the grasping, and a user interface, which merges haptic feedback and visual assistance. User studies confirm a reduction in operator workload and an increase in task performance while maintaining a high immersion of the operator into the remote environment when using the assistance functions.