Nuclear decommissioning involves the extensive use of remotely deployed manipulators controlled via teleoperation systems. These manipulators are used to perform tasks such as, waste sorting grinding, drilling, shearing, swabbing and plasma ate cutting. Teleoperations in hazardous environments are often hampered by a lack of visual information. Ideal camera locations are generally not possible. Also, visual feedback is often of limited use because it does not generally provide the operator with information regarding the forces and torques that are being applied through the manipulator. Damage to the manipulator, tool or environment can be very expensive and dangerous within a hazardous environment such as a nuclear plant. Experienced manipulator operators often learn to determine approximate end point forces by using environmental visual cues and a cognitive model of the system. However, mistakes are still possible, especially with inexperienced operators, or operators with low concentration induced by boredom, stress, fatigue or lack of intuitive control. Other researchers have shown that haptic/force feedback can improve operator performance when using non-industrial teleoperation systems. often to control electric manipulators. This paper presents a summary of the design and integration of a haptic interface with a nuclear industry accepted control system and manipulator. The control system is a UK Robotics Advanced Teleoperation Controller (ATC) and the manipulator is a Schilling Titan II hydraulic arm. Operator performance has been studied for peg in the hole, grinding and drilling tasks, both with and without haptic communication. The results of these experiments are presented.
