# ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction

## TL;DR

This paper introduces ResQbot, a mobile rescue robot with immersive stereoscopic teleperception, demonstrating improved safety and task performance in casualty extraction through experimental evaluation with a sensorized dummy.

## Contribution

The paper presents a novel rescue robot with immersive teleperception and a new loco-manipulation approach, validated through experiments showing enhanced safety and task efficiency.

## Key findings

- Safety parameters remained below injury thresholds.
- Immersive teleperception improved task performance.
- ResQbot successfully performed casualty extraction in experiments.

## Abstract

In this work, we propose a novel mobile rescue robot equipped with an immersive stereoscopic teleperception and a teleoperation control. This robot is designed with the capability to perform safely a casualty-extraction procedure. We have built a proof-of-concept mobile rescue robot called ResQbot for the experimental platform. An approach called "loco-manipulation" is used to perform the casualty-extraction procedure using the platform. The performance of this robot is evaluated in terms of task accomplishment and safety by conducting a mock rescue experiment. We use a custom-made human-sized dummy that has been sensorised to be used as the casualty. In terms of safety, we observe several parameters during the experiment including impact force, acceleration, speed and displacement of the dummy's head. We also compare the performance of the proposed immersive stereoscopic teleperception to conventional monocular teleperception. The results of the experiments show that the observed safety parameters are below key safety thresholds which could possibly lead to head or neck injuries. Moreover, the teleperception comparison results demonstrate an improvement in task-accomplishment performance when the operator is using the immersive teleperception.