Force Feedback Design of Operation Levers Considering the Characteristics of Human Force Perception to Improve Hydraulic Excavator Operability

SUMMARYComplex tasks that need to be performed through teleoperation led to the development of multifinger robot hands. A dextrous master is a multi-DOF controller which is worn by the operator in order to teleoperate these anthropomorphic hands. Force feedback is very useful when there is interaction with the environment. Providing force feedback to dextrous masters is an area of active research. We outline some of the human factors that influence the design of such masters. Of obvious importance is the hand geometry and the desired number of degrees of freedom. Additional criteria relate to the force perception of the hand. Finally, the man-machine impedance is of importance, since at the man/machine interface there are two impedances acting in series. One is the effective impedance of the human operator holding the master controller, the second is the impedance of the master controller being manipulated.

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A Computational Approach to Magnetic Force Feedback Design

Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems ◽

10.1145/3411764.3445631 ◽

2021 ◽

Author(s):

Masa Ogata ◽

Yuki Koyama

Keyword(s):

Magnetic Force ◽

Force Feedback ◽

Computational Approach ◽

Feedback Design

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Facilitating Flexible Force Feedback Design with Feelix

Proceedings of the 2020 International Conference on Multimodal Interaction ◽

10.1145/3382507.3418819 ◽

2020 ◽

Author(s):

Anke van Oosterhout ◽

Miguel Bruns ◽

Eve Hoggan

Keyword(s):

Force Feedback ◽

Feedback Design

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Human Force Discrimination during Active Arm Motion for Force Feedback Design

IEEE Transactions on Haptics ◽

10.1109/toh.2013.4 ◽

2013 ◽

Vol 6 (3) ◽

pp. 309-319 ◽

Cited By ~ 23

Author(s):

Seyedshams Feyzabadi ◽

Sirko Straube ◽

Michele Folgheraiter ◽

Elsa Andrea Kirchner ◽

Su Kyoung Kim ◽

...

Keyword(s):

Force Feedback ◽

Feedback Design ◽

Arm Motion

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Force Discrimination Ability of the Human Hand near Absolute Threshold for the Design of Force Feedback Systems in Teleoperations

Presence Teleoperators & Virtual Environments ◽

10.1162/pres_a_00245 ◽

2016 ◽

Vol 25 (1) ◽

pp. 47-60 ◽

Cited By ~ 6

Author(s):

Faezeh Heydari Khabbaz ◽

Andrew Goldenberg ◽

James Drake

Keyword(s):

Minimally Invasive ◽

Force Feedback ◽

Absolute Threshold ◽

Human Perception ◽

Feedback Signal ◽

Human Hand ◽

Feedback Systems ◽

Discrimination Ability ◽

Force Perception ◽

Perception System

Force discrimination ability is an important surgical skill for micro or minimally invasive surgeries. This article analyzes the force perception of the human hand for lowintensity stimuli. Psychophysical experiments were conducted to measure just noticeable differences (JNDs) at four reference forces below 1 N. Reference forces are chosen to be in the range of forces in minimally invasive surgery that do not follow Weber's law. The force discrimination ability of two groups of subjects, surgeons and non-surgeons, is compared. Results demonstrate a superior ability of surgeons in discriminating small forces. The relationship between the JND and stimulus near absolute threshold is modeled. The application of the model in the design of force feedback systems for surgical teleoperation is discussed. In a force augmenting teleoperation system, the force feedback signal is amplified based on the characteristics of the human perception system. Therefore, the degraded human sense of touch at low-intensity forces would be compensated.

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Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2012.p0949 ◽

2012 ◽

Vol 24 (6) ◽

pp. 949-957 ◽

Cited By ~ 10

Author(s):

Ahmad Anas Yusof ◽

◽

Takuya Kawamura ◽

Hironao Yamada

Keyword(s):

Completion Time ◽

Human Error ◽

Sensory Feedback ◽

Force Feedback ◽

Risk Index ◽

Task Completion ◽

Feedback Systems ◽

Force Perception ◽

Grasping Force ◽

Psychophysical Tests

Construction robot telegrasping operation provides considerable challenges in postdisaster recovery missions. This paper presents an evaluation of construction robot telegrasping force perception, which integrates the use of visual, auditory and force feedback systems. The integration of graphically-presented feedback force is proposed to help operators visually monitor changes in grasping force. Auditory feedback is used simultaneously to provide rapid warnings, while force feedback enhances grasping sense. Sensitivity to each type of feedback is measured by using psychophysical tests, and manipulation tests are conducted to observe effects on the gripping risk index, task completion time and subjective workload. Results validate the need for multimodal sensory feedback, for accurately controlling the grasping process, and for avoiding unnecessary action due to human error.

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Force Feedback Assistance in Remote Ultrasound Scan Procedures

Energies ◽

10.3390/en13133376 ◽

2020 ◽

Vol 13 (13) ◽

pp. 3376

Author(s):

Maide Bucolo ◽

Arturo Buscarino ◽

Luigi Fortuna ◽

Salvina Gagliano

Keyword(s):

Feedback Control ◽

Force Feedback ◽

Relevant Information ◽

The Body ◽

Ultrasound Scan ◽

Force Perception ◽

Machine Modeling ◽

Remote Operations ◽

To Receive ◽

Robotic Applications

In this contribution, we approached a new aspect in robotic applications. We investigated human–machine modeling for remote ultrasound scan equipment. While robotic systems for ultrasound scan applications with remote operations have been widely studied, in this research, remote force-feedback control was tested. The goal is for the human operator to receive, as physical input, the correct force perception transmitted by the remote ultrasound scan equipment in analyzing the body of the patient. Two principal aspects were investigated. The first was an artificial body model to receive the control signals from the remote equipment. The second aspect was to study a suitable feedback control law that attempts to compensate for the uncertainty between the artificial body and the patient’s body, while also taking into account the transmission delay. Therefore, the task was to give the operator relevant information while considering the force effect; thus, providing a reliable and efficient platform in order to work in remote conditions with ultrasound scan equipment.

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