scholarly journals Contact-initiated shared control strategies for four-arm supernumerary manipulation with foot interfaces

2021 ◽  
pp. 027836492110176
Author(s):  
Walid Amanhoud ◽  
Jacob Hernandez Sanchez ◽  
Mohamed Bouri ◽  
Aude Billard
Keyword(s):  
User Study ◽  
Control Strategies ◽  
Ease Of Use ◽  
Shared Control ◽  
Haptic Interfaces ◽  
Interaction Forces ◽  
Robotic Arms ◽  
Single Person ◽  
Grasping Force ◽  
Manipulation Task

In industrial or surgical settings, to achieve many tasks successfully, at least two people are needed. To this end, robotic assistance could be used to enable a single person to perform such tasks alone, with the help of robots through direct, shared, or autonomous control. We are interested in four-arm manipulation scenarios, where both feet are used to control two robotic arms via bi-pedal haptic interfaces. The robotic arms complement the tasks of the biological arms, for instance, in supporting and moving an object while working on it (using both hands). To reduce fatigue, cognitive workload, and to ease the execution of the foot manipulation, we propose two types of assistance that can be enabled upon contact with the object (i.e., based on the interaction forces): autonomous-contact force generation and auto-coordination of the robotic arms. The latter relates to controlling both arms with a single foot, once the object is grasped. We designed four (shared) control strategies that are derived from the combinations (absence/presence) of both assistance modalities, and we compared them through a user study (with 12 participants) on a four-arm manipulation task. The results show that force assistance positively improves human–robot fluency in the four-arm task, the ease of use and usefulness; it also reduces the fatigue. Finally, to make the dual-assistance approach the preferred and most successful among the proposed control strategies, delegating the grasping force to the robotic arms is a crucial factor when controlling them both with a single foot.

scholarly journals Comparative evaluation of WIMP and immersive natural finger interaction: a user study on CAD assembly modeling

2021 ◽  
Author(s):  
Marius Fechter ◽  
Benjamin Schleich ◽  
Sandro Wartzack
Keyword(s):  
User Interfaces ◽  
User Study ◽  
Spatial Location ◽  
Ease Of Use ◽  
Natural Interaction ◽  
Assembly Modeling ◽  
3D Space ◽  
Computer Mouse ◽  
Study Results ◽  
Assembly Procedure

AbstractVirtual and augmented reality allows the utilization of natural user interfaces, such as realistic finger interaction, even for purposes that were previously dominated by the WIMP paradigm. This new form of interaction is particularly suitable for applications involving manipulation tasks in 3D space, such as CAD assembly modeling. The objective of this paper is to evaluate the suitability of natural interaction for CAD assembly modeling in virtual reality. An advantage of the natural interaction compared to the conventional operation by computer mouse would indicate development potential for user interfaces of current CAD applications. Our approach bases on two main elements. Firstly, a novel natural user interface for realistic finger interaction enables the user to interact with virtual objects similar to physical ones. Secondly, an algorithm automatically detects constraints between CAD components based solely on their geometry and spatial location. In order to prove the usability of the natural CAD assembly modeling approach in comparison with the assembly procedure in current WIMP operated CAD software, we present a comparative user study. Results show that the VR method including natural finger interaction significantly outperforms the desktop-based CAD application in terms of efficiency and ease of use.

scholarly journals Personalized Augmented Reality Based Tourism System: Big Data and User Demographic Contexts

2021 ◽  
Vol 11 (13) ◽  
pp. 6047
Author(s):  
Soheil Rezaee ◽  
Abolghasem Sadeghi-Niaraki ◽  
Maryam Shakeri ◽  
Soo-Mi Choi
Keyword(s):  
Big Data ◽  
Augmented Reality ◽  
User Study ◽  
Spatial Information ◽  
Ease Of Use ◽  
Tourist Attraction ◽  
Gender And Education ◽  
Time Distance ◽  
Data Source ◽  
The Right

A lack of required data resources is one of the challenges of accepting the Augmented Reality (AR) to provide the right services to the users, whereas the amount of spatial information produced by people is increasing daily. This research aims to design a personalized AR that is based on a tourist system that retrieves the big data according to the users’ demographic contexts in order to enrich the AR data source in tourism. This research is conducted in two main steps. First, the type of the tourist attraction where the users interest is predicted according to the user demographic contexts, which include age, gender, and education level, by using a machine learning method. Second, the correct data for the user are extracted from the big data by considering time, distance, popularity, and the neighborhood of the tourist places, by using the VIKOR and SWAR decision making methods. By about 6%, the results show better performance of the decision tree by predicting the type of tourist attraction, when compared to the SVM method. In addition, the results of the user study of the system show the overall satisfaction of the participants in terms of the ease-of-use, which is about 55%, and in terms of the systems usefulness, about 56%.

scholarly journals Understanding collaborative tourism information searching to support online travel planning

2019 ◽  
Vol 43 (3) ◽  
pp. 369-386 ◽  
Author(s):  
Abu Shamim Mohammad Arif ◽  
Jia Tina Du
Keyword(s):  
Information Search ◽  
User Study ◽  
Ease Of Use ◽  
Online Information ◽  
Information Searching ◽  
Search System ◽  
Content Type ◽  
Travel Planning ◽  
Collaborative Search ◽  
Tourism Information

Purpose Collaborative information searching is common for people when planning their group trip. However, little research has explored how tourists collaborate during information search. Existing tourism Web portals or search engines rarely support tourists’ collaborative information search activities. Taking advantage of previous studies of collaborative tourism information search behavior, in the current paper the purpose of this paper is to propose the design of a collaborative search system collaborative tourism information search (ColTIS) to support online information search and travel planning. Design/methodology/approach ColTIS was evaluated and compared with Google Talk-embedded Tripadvisor.com through a user study involving 18 pairs of participants. The data included pre- and post-search questionnaires, web search logs and chat history. For quantitative measurement, statistical analysis was performed using SPSS; for log data and the qualitative feedback from participants, the content analysis was employed. Findings Results suggest that collaborative query formulation, division of search tasks, chatting and results sharing are important means to facilitate tourists’ collaborative search. ColTIS was found to outperform Tripadvisor significantly regarding the ease of use, collaborative support and system usefulness. Originality/value The innovation of the study lies in the development of an integrated real-time collaborative tourism information search system with unique features. These features include collaborative query reformulation, travel planner and automatic result and query sharing that assist multiple people search for holiday information together. For system designers and tourism practitioners, implications are provided.

scholarly journals Pseudo-haptic feedback in medical teleoperation

2015 ◽  
Vol 1 (1) ◽  
pp. 160-163 ◽  
Author(s):  
Carsten Neupert ◽  
Sebastian Matich ◽  
Peter P. Pott ◽  
Christian Hatzfeld ◽  
Roland Werthschützky
Keyword(s):  
User Interface ◽  
Visual Perception ◽  
Virtual Environments ◽  
Mechanical Characteristic ◽  
Haptic Feedback ◽  
Surgical Robot ◽  
Interaction Forces ◽  
End Effector ◽  
Grasping Force ◽  
Coupling Characteristic

AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.

scholarly journals Comparison of Contact Force Control Strategies on Different Robot Arm Types

2010 ◽  
Author(s):  
Hu¨seyin Yaltirik ◽  
A. Kerim Kar ◽  
Bu¨lent Ekici
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Control Algorithms ◽  
Robot Arm ◽  
Interaction Forces ◽  
Static Contact ◽  
Contact Tasks ◽  
Control Interaction ◽  
Contact Force Control

Nowadays robots are used in various areas. There are extremely important applications where the robot arm tip comes in contact with the environment or an object. During controlling an object, static or in motion, the object or the robot arm should not be damaged. The interaction forces are important in such conditions. Whether the task succeeds or fails depends on how accurate the interaction forces are controlled. The interaction forces are changed depending on the motion of the robot arm. Therefore, to control interaction forces a force control algorithm must be developed. In this research a force control algorithm will first be developed for the quasi-static contact tasks, then it will be extended to the dynamic cases. The goal of this study is to compare force control strategies to achieve the desired interaction forces between the robot arm tip (end-effector) and the environment during contact tasks. Taguchi L9 method is used for comparison of selected force control algorithms which are modeled in SIMULINK MATLAB program.

A Virtual Environment for the Simulation and Programming of Excavation Trajectories

2001 ◽  
Vol 10 (5) ◽  
pp. 465-476 ◽  
Author(s):  
Simon P. DiMaio ◽  
Septimiu E. Salcudean ◽  
Claude Reboulet
Keyword(s):  
Virtual Environment ◽  
Force Feedback ◽  
Control Strategies ◽  
Haptic Interface ◽  
Visual Environment ◽  
Heavy Duty ◽  
Interaction Forces ◽  
Impedance Model ◽  
Hydraulic Machines ◽  
Human Operators

An excavator simulator has been developed to facilitate the training of human operators and to evaluate control strategies for heavy-duty hydraulic machines. The operator controls a virtual excavator by means of a joystick while experiencing visual and force feedback generated by environment and machine models. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphically rendered visual environment, and a haptic interface. This paper describes the simulator components and their integration.

scholarly journals “Attention! A Door Could Open.”—Introducing Awareness Messages for Cyclists to Safely Evade Potential Hazards

2021 ◽  
Vol 6 (1) ◽  
pp. 3
Author(s):  
Tamara von Sawitzky ◽  
Thomas Grauschopf ◽  
Andreas Riener
Keyword(s):  
Traffic Accidents ◽  
User Study ◽  
Road Traffic ◽  
Lateral Position ◽  
Ease Of Use ◽  
Potential Hazard ◽  
Perceived Safety ◽  
Visual Message ◽  
Voice Message ◽  
The One

Numerous statistics show that cyclists are often involved in road traffic accidents, often with serious outcomes. One potential hazard of cycling, especially in cities, is “dooring”—passing parked vehicles that still have occupants inside. These occupants could open the vehicle door unexpectedly in the cyclist’s path—requiring a quick evasive response by the cyclist to avoid a collision. Dooring can be very poorly anticipated; as a possible solution, we propose in this work a system that notifies the cyclist of opening doors based on a networked intelligent transportation infrastructure. In a user study with a bicycle simulator (N = 24), we examined the effects of three user interface designs compared to a baseline (no notifications) on cycling behavior (speed and lateral position), perceived safety, and ease of use. Awareness messages (either visual message, visual message + auditory icon, or visual + voice message) were displayed on a smart bicycle helmet at different times before passing a parked, still-occupied vehicle. Our participants found the notifications of potential hazards very easy to understand and appealing and felt that the alerts could help them navigate traffic more safely. Those concepts that (additionally) used auditory icons or voice messages were preferred. In addition, the lateral distance increased significantly when a potentially opening door was indicated. In these situations, cyclists were able to safely pass the parked vehicle without braking. In summary, we are convinced that notification systems, such as the one presented here, are an important component for increasing road safety, especially for vulnerable road users.

Human-Robot Interfaces of the NeuRoboScope: A Minimally Invasive Endoscopic Pituitary Tumor Surgery Robotic Assistance System

2020 ◽  
Author(s):  
Mehmet Ismet Can Dede ◽  
Gokhan Kiper ◽  
Tolga Ayav ◽  
Barbaros Özdemirel ◽  
Enver Tatlicioglu ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Interaction Design ◽  
User Study ◽  
Pituitary Tumors ◽  
Human Robot Interaction ◽  
Ease Of Use ◽  
Physical Interaction ◽  
Endoscopic Endonasal ◽  
Wide Range ◽  
Human Robot Interfaces

Abstract Endoscopic endonasal surgery is a commonly practiced minimally invasive neurosurgical operation for the treatment of a wide range of skull base pathologies including pituitary tumors. A common shortcoming of this surgery is the necessity of a third hand when the endoscope has to be handled to allow active use of both hands of the main surgeon. The robot surgery assistant NeuRoboScope system has been developed to take over the endoscope from the main surgeon's hand while providing the surgeon with the necessary means of controlling the location and direction of the endoscope. One of the main novelties of the NeuRoboScope system is its human-robot interface designs which regulate and facilitate the interaction between the surgeon and the robot assistant. The human-robot interaction design of the NeuRoboScope system is investigated in two domains: direct physical interaction and master-slave teleoperation. The user study indicating the learning curve and ease of use of the master-slave teleoperation is given and this paper is concluded via providing the reader with an outlook of possible new human-robot interfaces for the robot assisted surgery systems.

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