Development and integration of a novel IP66 Force Feedback Joystick for offshore operations

Intervention activities in underwater environments are of great importance in many areas, such as the exploration, monitoring and documentation of sea resources, historical treasures or industrial applications. The use of robotic systems and automatic procedures is becoming fundamental, since the work conditions for divers are risky and often unfeasible, and several kind of works are every way impossible for humans. One of the most important objectives of the underwater robotic research consists in making technological systems friendly and easy to use by all kind of experts. This paper presents the development and test of a Force Feedback (FFB) Joystick aimed at supporting ROVs pilots during their work. Reaction forces on the joystick axes, based on specific error parameters, let the pilot understand in real-time the underwater environment where the robot is moving and thruster velocity saturation limits, thus improving significantly the efficiency of the given mission. The present work describes the design, assembly and programming of the joystick, and its test within a virtual environment simulating the real time control of Internet-enabled smart ROVs operating in remote locations. Results obtained with this kind of applications are discussed, and potentiality of the systems are underlined for future developments.