Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots
- 7 March 2013
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Cybernetics
- Vol. 43 (2), 597-609
- https://doi.org/10.1109/tsmcb.2012.2212884
Abstract
In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.Keywords
This publication has 36 references indexed in Scilit:
- Loop Shaping for Transparency and Stability Robustness in Bilateral TelemanipulationIEEE Transactions on Robotics and Automation, 2004
- Experimental Quantitative Comparison of Different Control Architectures for Master–Slave TeleoperationIEEE Transactions on Control Systems Technology, 2004
- Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environmentsIEEE Transactions on Robotics and Automation, 2002
- Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave ManipulatorsThe International Journal of Robotics Research, 2001
- Estimation and application of EMG amplitude during dynamic contractionsIEEE Engineering in Medicine and Biology Magazine, 2001
- Flatness and defect of non-linear systems: introductory theory and examplesInternational Journal of Control, 1995
- Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experimentIEEE Transactions on Robotics and Automation, 1994
- Stability and transparency in bilateral teleoperationIEEE Transactions on Robotics and Automation, 1993
- Dynamic and loaded impedance components in the maintenance of human arm postureIEEE Transactions on Systems, Man, and Cybernetics, 1993
- Teleautonomous guidance for mobile robotsIEEE Transactions on Systems, Man, and Cybernetics, 1990