Desarrollo de una interfaz de usuario para la teleoperación de un robot manipulador usando herramientas de realidad virtual en el laboratorio de robótica Nakama de la Universidad de Twente

This project presents the design, development, and evaluation of a virtual reality teleoperation system for controlling the Franka Research 3 robotic arm. Addressing the limitations of traditional 2D visualization interfaces, the proposed solution enables intuitive control through a distributed architecture that integrates ROS2 middleware, Unity engine, a ZED Mini stereo camera, and the Meta Quest 2 VR headset with touch controllers. Following an iterative methodology grounded in the Rational Unified Process and concurrent design principles, the system was incrementally developed and tested with 14 participants. Core functionalities included real-time stereo image streaming and joystick-based manipulation. Performance metrics and user-centered evaluations, collected through the System Usability Scale (SUS), NASA Task Load Index (NASA-TLX), Virtual Reality Sickness Questionnaire (VRSQ), and User Experience Questionnaire (UEQ) demonstrated the system’s overall learnability, usability, and operational feasibility. SUS’s score of 61.25 suggests a usable system with room for improvement to reach full user-friendliness. NASA-TLX score of 32.44 reflects a low perceived workload. VRSQ score of 16.07 points to a low incidence of cybersickness symptoms, supporting the system’s comfort during short-duration use. A clear improvement in task execution time and user confidence was observed across trials, confirming the interface's effectiveness despite minor limitations in synchronization and visual stability. The system architecture emphasizes modularity, scalability, and extensibility, making it suitable for advanced research and practical applications in teleoperation. Key contributions include the validation of a ROS2–Unity integration model for immersive control, a working force-feedback implementation, and insights into usability trade-offs in impedance-based motion control. This work contributes to closing the gap in remote human–robot collaboration and sets a foundation for future innovations around teleoperation and: digital twins, augmented reality, and adaptive haptic control.

• Autores: Rivera Arbeláez, Juan Pablo
• Tipo de recurso: Trabajo de grado de pregrado
• Fecha de publicación: 2025
• Institución: Universidad Autónoma de Occidente
• Repositorio: RED: Repositorio Educativo Digital UAO
• Idioma: eng
• OAI Identifier: oai:red.uao.edu.co:10614/16179
• Acceso en línea: https://hdl.handle.net/10614/16179; https://red.uao.edu.co/
• Palabra clave: Ingeniería Mecatrónica; Interfaces de teleoperación; Interacción humano-robot; Realidad virtual; Manipulador robótico; Usabilidad del sistema; Teleoperation Interfaces; Human Robot Interaction; Virtual Reality; Robotic Manipulators; System Usability
• Rights: openAccess
• License: )-- Universidad Autónoma de Occidente, 2025