Collaborative Robots, Virtual Reality and Haptic Devices

Tyndall’s Collaborative Robotics Lab is equipped with key technology, including the UR16e collaborative robot from Universal Robots. This robot is designed for tasks that require high payloads and precision, featuring a payload capacity of 16 kg, a reach of 900 mm, and a repeatability of ±0.05 mm. These specifications make it ideal for handling heavy materials and precise assembly operations. Another essential piece of equipment is the Quantum Mocap Metagloves by Manus, which are advanced wearable devices designed for high-fidelity motion tracking of finger, hand, and wrist movements. These gloves offer sub-millimetre accuracy and low latency, integrating advanced sensor technology such as IMUs and proprietary flex sensors. Their ergonomic design ensures comfort during extended use, making them well-suited for robotic teleoperation and VR/AR applications.

Collaborative Robotics, Virtual Reality and Haptic Devices
– UR16e collaborative robot
– Robotiq 3-Finger Adaptive Robot Gripper
– Onrobot RG6 flexible 2 finger gripper with wide stroke
– HTC Vive VR System with 4 HTC trackers (2×2.0 and 2×3.0)
– Oculus Rift 3P-A Touch System (2x Touch Controllers & 2x Sensors)
– Quantum Mocap Metagloves by Manus – Fingertip Tracking Sensors
– Tyndall Smart Glove

Other significant Collaborative Robotics Lab items are listed in Table 1 and shown in Fig. 1,2

Table. 1 lists the equipment items in the Collaborative Robotics Lab.

Equipment	Manufacturer	Model	Specifications
Collaborative Robot	Universal Robots	UR16e	Payload 16kg, reach of 900 mm, repeatability of  ±0.05 mm
VR Headset	HTC	HTC Vive VR System	Resolution 1080 x 1200 pixels per eye, refresh rate 90 Hz, Field of view 110 degrees
VR Headset	Meta	Oculus Rift 3P-A Touch System	OLED displays, Resolution 1080 x 1200 pixels per eye, refresh rate 90 Hz, Field of view 110 degrees
Data Glove	Manus	Quantum Mocap Metagloves	Signal latency ≤ 7.5ms, absolute position, 3 axis rotation, Sensor sample rate 120Hz, battery duration up to 3 hours, weight 100 grams
Data Glove	Tyndall National Institute	Tyndall Smart Glove	12 IMU, Sensor sample rate 100Hz, battery duration up to 1 hour, weight 100 grams

Table 1. Collaborative robot and VR/AR equipment.

An INFRACHIP user can use the UR16e collaborative robot paired with the Robotiq 3-Finger Adaptive Gripper to simulate complex assembly tasks in a manufacturing environment. The Quantum Mocap Metagloves could be employed to capture precise hand movements and translate them into real-time robotic control, enabling researchers to study human-robot interaction and fine-tune teleoperation algorithms for enhanced efficiency and responsiveness. This experiment provided insights into improving workflow automation and demonstrated the potential for more intuitive, safe, and effective collaborative systems.

 

Examples of publications which adopted the available lab equipment:

10.1109/I2MTC60896.2024.10561211

10.1109/TIM.2023.3334378

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