README.md

# Concepts for Collaborative Robot Manipulation

## Description
This project explores three different approaches to collaborative robot manipulation using the KUKA LBR iiwa. The approaches include:
- **C1 - Hand Manipulation:** Direct manipulation using hand-guiding.
- **C2 - Teleoperation:** Remote manipulation using the Omega.6 haptic device.
- **C3 - Touchless Manipulation:** Gesture-based manipulation using hand tracking via HoloLens2.

Each approach is implemented using KUKA Sunrise.OS.
Activation and deactivation of the manipulation techniques can be controlled through different interfaces, such the button on the robot flange or on the haptic device, a foot switch, or voice interaction via a wireless microphone.
The C2 approach utilizes additional C++ code provided in the repository.
The C3 approach requires supplementary code that is part of unpublished work and is therefore not included in this repository.
Unity scripts enable communication between devices and implement the study task.


## Folder Hierarchy
    /concepts-for-collaborative-robot-manipulation
        |-- C1_Hand.java (Sunrise.OS)
        |-- C2_Teleoperation.java (Sunrise.OS)
        |-- C3_Touchless.java (Sunrise.OS)
        |-- ProbeControl2024 (Unity)
            |-- Assets
            |-- ProjectSettings 
            |-- ... 
        |-- C2_Teleoperation (VS 2022)
            |-- Controller.cpp
            |-- Controller.h
            |-- ControlSettings.cpp
            |-- ControlSettings.h
            |-- ExternalStateController.cpp
            |-- ExternalStateController.h
            |-- StartForm.cpp
            |-- StartForm.h
            |-- Teleoperations.sln