scholarly journals Haptic Teleoperation of a Mobile Robot: A User Study

2005 ◽  
Vol 14 (3) ◽  
pp. 345-365 ◽  
Author(s):  
Sangyoon Lee ◽  
Gaurav Sukhatme ◽  
Gerard Jounghyun Kim ◽  
Chan-Mo Park
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Minimum Distance ◽  
User Study ◽  
Haptic Feedback ◽  
Haptic Information ◽  
Operator Performance ◽  
Shared Autonomy ◽  
Close Range

The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

Designing Haptics: Improving a Virtual Reality Glove with Respect to Realism, Performance, and Comfort

2019 ◽  
Vol 13 (4) ◽  
pp. 453-463
Author(s):  
Daniel Shor ◽  
◽  
Bryan Zaaijer ◽  
Laura Ahsmann ◽  
Max Weetzel ◽  
...  
Keyword(s):  
Virtual Reality ◽  
User Study ◽  
Haptic Feedback ◽  
Haptic Interface ◽  
Haptic Information ◽  
Critical Design ◽  
And Performance ◽  
Design Factors ◽  
Design Paper ◽  
Sensory Noise

This design paper describes the development of custom built interface between a force-replicating virtual reality (VR) haptic interface glove, and a user. The ability to convey haptic information – both kinematic and tactile – is a critical barrier in creating comprehensive simulations. Haptic interface gloves can convey haptic information, but often the haptic “signal” is diluted by sensory “noise,” miscuing the user’s brain. Our goal is to convey compelling interactions – such as grasping, squeezing, and pressing – with virtual objects by improving one such haptic interface glove, the SenseGlove, through a redesign of the user-glove interface, soft glove. The redesign revolves around three critical design factors – comfort, realism, and performance – and three critical design areas – thimble/fingertip, palm, and haptic feedback. This paper introduces the redesign method and compares the two designs with a quantitative user study. The benefit of the improved soft glove can be shown by a significant improvement of the design factors, quantified through QUESI, NASA-TLX, and comfort questionnaires.

Development and analysis of an operator steering model for teleoperated mobile robots under constant and variable latencies

Robotica ◽  
2016 ◽  
Vol 36 (2) ◽  
pp. 167-186 ◽  
Author(s):  
Steve Vozar ◽  
Justin Storms ◽  
D. M. Tilbury
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
User Study ◽  
Lateral Displacement ◽  
User Performance ◽  
Pd Controller ◽  
Operator Performance ◽  
Expected Performance ◽  
Variable Latency ◽  
Latency Distributions

SUMMARYLatency hinders a mobile robot teleoperator's ability to perform remote tasks. However, this effect is not well modeled. This paper develops a model for teleoperator steering behavior as a PD controller based on projected lateral displacement, which was tuned to reflect user performance determined by a 31-subject user study under constant and variable latency (having mean latencies between 0 and 750 ms). Additionally, we determined that operator performance under variable latency could be mapped to the expected performance of an equivalent constant latency. We then tested additional latency distributions in simulation and demonstrated equivalent steering performance among several different latency distributions.

scholarly journals Research on path planning of three-neighbor search A* algorithm combined with artificial potential field

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110264
Author(s):  
Jiqing Chen ◽  
Chenzhi Tan ◽  
Rongxian Mo ◽  
Hongdu Zhang ◽  
Ganwei Cai ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Path Length ◽  
Search Time ◽  
Experimental Results ◽  
Artificial Potential Field ◽  
A Algorithm ◽  
Neighbor Search

Among the shortcomings of the A* algorithm, for example, there are many search nodes in path planning, and the calculation time is long. This article proposes a three-neighbor search A* algorithm combined with artificial potential fields to optimize the path planning problem of mobile robots. The algorithm integrates and improves the partial artificial potential field and the A* algorithm to address irregular obstacles in the forward direction. The artificial potential field guides the mobile robot to move forward quickly. The A* algorithm of the three-neighbor search method performs accurate obstacle avoidance. The current pose vector of the mobile robot is constructed during obstacle avoidance, the search range is narrowed to less than three neighbors, and repeated searches are avoided. In the matrix laboratory environment, grid maps with different obstacle ratios are compared with the A* algorithm. The experimental results show that the proposed improved algorithm avoids concave obstacle traps and shortens the path length, thus reducing the search time and the number of search nodes. The average path length is shortened by 5.58%, the path search time is shortened by 77.05%, and the number of path nodes is reduced by 88.85%. The experimental results fully show that the improved A* algorithm is effective and feasible and can provide optimal results.

scholarly journals Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3673
Author(s):  
Stefan Grushko ◽  
Aleš Vysocký ◽  
Petr Oščádal ◽  
Michal Vocetka ◽  
Petr Novák ◽  
...  
Keyword(s):  
User Study ◽  
Haptic Feedback ◽  
Fundamental Aspect ◽  
Task Completion ◽  
Good Efficiency ◽  
Notification System ◽  
Movement Data ◽  
Novel Approach ◽  
Machine Interface ◽  
High Degree

In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot’s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot’s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot’s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot’s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users’ awareness about the motion plan of the robot.

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Study of obstacle avoidance based on fuzzy planner for wheeled mobile robot

2011 ◽  
Author(s):  
Suolin Duan ◽  
Yunfeng Li ◽  
Shuyue Chen ◽  
Lanping Chen ◽  
Ling Zou ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Wheeled Mobile Robot
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