{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:02:53Z","timestamp":1760148173404,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2023,4,9]],"date-time":"2023-04-09T00:00:00Z","timestamp":1680998400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Shenzhen Science Fund for Distinguished Young Scholars","award":["R-CJC20210706091946001","2019TQ05Z111","52265002"],"award-info":[{"award-number":["R-CJC20210706091946001","2019TQ05Z111","52265002"]}]},{"name":"Guangdong Special Branch Plan for Young Talent with Scientific and Technological Innovation","award":["R-CJC20210706091946001","2019TQ05Z111","52265002"],"award-info":[{"award-number":["R-CJC20210706091946001","2019TQ05Z111","52265002"]}]},{"name":"National Natural Science Foundation of China","award":["R-CJC20210706091946001","2019TQ05Z111","52265002"],"award-info":[{"award-number":["R-CJC20210706091946001","2019TQ05Z111","52265002"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A hyper-redundant flexible manipulator is characterized by high degree(s) of freedom (DoF), flexibility, and environmental adaptability. It has been used for missions in complex and unknown spaces, such as debris rescue and pipeline inspection, where the manipulator is not intelligent enough to face complex situations. Therefore, human intervention is required to assist in decision-making and control. In this paper, we designed an interactive navigation method based on mixed reality (MR) of a hyper-redundant flexible manipulator in an unknown space. A novel teleoperation system frame is put forward. An MR-based interface was developed to provide a virtual model of the remote workspace and virtual interactive interface, allowing the operator to observe the real-time situation from a third perspective and issue commands to the manipulator. As for environmental modeling, a simultaneous localization and mapping (SLAM) algorithm based on an RGB-D camera is applied. Additionally, a path-finding and obstacle avoidance method based on artificial potential field (APF) is introduced to ensure that the manipulator can move automatically under the artificial command in the remote space without collision. The results of the simulations and experiments validate that the system exhibits good real-time performance, accuracy, security, and user-friendliness.<\/jats:p>","DOI":"10.3390\/s23083840","type":"journal-article","created":{"date-parts":[[2023,4,10]],"date-time":"2023-04-10T03:24:18Z","timestamp":1681097058000},"page":"3840","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Mixed-Reality-Based Unknown Space Navigation Method of a Flexible Manipulator"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-4324-3139","authenticated-orcid":false,"given":"Ronghui","family":"Chen","sequence":"first","affiliation":[{"name":"Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9506-9005","authenticated-orcid":false,"given":"Xiaojun","family":"Zhu","sequence":"additional","affiliation":[{"name":"Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China"}]},{"given":"Zhang","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Automation, Tsinghua University, Beijing 100084, China"}]},{"given":"Yu","family":"Tian","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5823-5625","authenticated-orcid":false,"given":"Lunfei","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3542-0593","authenticated-orcid":false,"given":"Xueqian","family":"Wang","sequence":"additional","affiliation":[{"name":"Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s11701-006-0002-x","article-title":"Evolution of robotic arms","volume":"1","author":"Moran","year":"2007","journal-title":"J. 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