Subspace Teleoperation Package:

ROS package which enables teleoperation using a teleoperation subspace as described in "Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace" (Meeker, et al. 2018).

Hand model directory contains xml files of human hand and various robot hands. For instructions on how to create an xml file for a new robot hand, see hand_model_info.txt.

Program takes in arguments 'master_hand', 'slave_hand' and 'model_dir'. Master_hand and slave_hand arguments are names of xml hand model files and model_dir is the location of the folder containing the hand models. Default model_dir used with launch file is the hand_models folder in the package. Hand models are read in from the xml file using functions found in load_from_file.py and converted to projection matrices. See hand_model_info.txt for more details on how this conversion happens.

Program subscribes a JointState message from a dataglove on a ROS topic '/cyberglove/raw/joint_states'. It assumes that the master hand is human. Asks the human user for calibration poses to determine delta values in the subspace and uses functions from subspace_mapping.py to calculate delta values of the robot hand based on joint maxima and minima. The delta values of the master and slave are combined into a 'mapping_slope', this slope is not referenced in the paper but is simply a combination of delta and delta_star for the master and slave hands. Functions in subspace_mapping.py are also used to map from human joint values to teleoperation subspace (T) and then from T to the slave hand's joint values. Slave joint values are published on a ROS topic called '/slave_hand/command' (JointState msg).

Although joint minima and maxima are enforced on the slave_hand/command topic, when using a real robot for grasping, additional functions to provide overload protection are recommended.

Calibration poses which the user is asked to perform when running the program can be found in the calibration_poses.pdf file.

Notation - same as in the referenced paper: o = origin A = projection matrix delta = scaling factor T = teleoperation subspace

To run: roslaunch teleoperation_subspace teleoperation_subspace.launch

You can specify some parameters in the launch file:

• master: The name of the master hand (also the title of the master hand's xml file)
• slave: The name of the slave hand (also the title of the slave hand's xml file)
• model_dir: The path to the folder where the models are kept