01813nas a2200193   4500008003900000245006900039210006700108260000900175300001000184520122600194100001701420700002101437700002201458700002001480700002101500700002001521700002001541856005801561       2018                          d00aShared-autonomy control for intuitive bimanual tele-manipulation0 aSharedautonomy control for intuitive bimanual telemanipulation  bIEEE  a1–93 a<p>Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user's dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.</p>
1 aLaghi, Marco1 aMaimeri, Michele1 aMarchand, Mathieu1 aLeparoux, Clara1 aCatalano, Manuel1 aAjoudani, Arash1 aBicchi, Antonio  uhttps://ieeexplore.ieee.org/abstract/document/8625047