A Regression and Boundary-Crossing-Based Model for the Perception of Delayed Stiffness

Nisky, Ilana; Mussa-Ivaldi, Ferdinando A.; Karniel, Amir

doi:10.1109/toh.2008.17

Cited by 65 publications

(76 citation statements)

References 27 publications

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“…A springlike force field is a one-sided linear spring, i.e., a compression spring, in which an elastic force field is applied whenever the boundary of the field is crossed, namely, when the human operator created contact with the spring. We found that subjects overestimate stiffness when force lags position [34], but when the hand of subjects remained in continuous contact with the elastic force field they underestimated the delayed stiffness [35]. Moreover, we found a proximal-distal gradient in the amount of underestimation of delayed stiffness in the transition between probing with shoulder, elbow, and wrist joints [36].…”

Section: Preliminariesmentioning

confidence: 66%

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Nisky

Mussa-Ivaldi

Karniel

2013

IEEE Trans. Human-Mach. Syst.

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Abstract-In bilateral teleoperation, a human operator manipulates a remote environment through a pair of master and slave robots. Transparency quantifies the fidelity of the teleoperation system, and is typically defined as the ability to accurately display remote environment properties to the operator. We propose a novel multidimensional measure of transparency which takes into account the human operator and consists of three components: (1) perceptual transparency, which quantifies human perception of the remote environment (2) local motor transparency, which quantifies how far is the movement of the human operator from ideal, and (3) remote motor transparency which describes how far is the movement of the remote device from ideal. We suggest that for many practical applications, the goal of transparency optimization is to maintain perceptual and remote motor transparency while sacrificing local motor transparency, and that it is plausible by taking advantage of the gap between perception and action in the operators sensorimotor system. We prove analytically that for a teleoperation channel with a position and force scaling and a constant transmission delay, in a palpation and perception of stiffness task, it is possible to find gains that assure perfect perceptual and remote motor transparency while maintaining stability. We also show that stability depends on the operator maintaining sufficient arm impedance relative to environment impedance and delay.

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Section: Preliminariesmentioning

confidence: 66%

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Nisky

Mussa-Ivaldi

Karniel

2013

IEEE Trans. Human-Mach. Syst.

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“…A general hypothesis supported by past work [11][12][13] is that time delays in position feedforward and haptic feedback can disturb the human operator and cause misjudgements. The key question we pose in this paper is how is the user performance of this basic manipulation task influenced by delays in haptic feedback?…”

Section: Introductionmentioning

confidence: 98%

“…Subjected to a forced-choice paradigm (i.e., distinguish the stiffer of two surfaces or identify them as having the same stiffness), users perceived the surfaces to be stiffer than actual under delayed force feedback and the stiffness overestimation increased for larger delays [11,12]. Recently, the effect of crossing the boundary of a force field, where local stiffness is ill-defined, on the perception of delayed stiffness has been studied [13]. It was found that subjects interacting with delayed force fields underestimate (overestimate) stiffness if they do not move (do move) across the boundary of the elastic field.…”

Section: Introductionmentioning

confidence: 99%

Performance analysis of a manipulation task in time-delayed teleoperation

Yip

Tavakoli

Howe

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abtract-There is ample research on the stabilization of haptic teleoperation systems under communication time delay. Little attention, however, has so far been paid to the usefulness of delayed haptic feedback on task performance. While the usefulness of haptic feedback in no-delay teleoperation has been previously established, this paper investigates whether haptic feedback helps to improve task performance in the presence of delay. We consider peg-in-the-hole insertion, which is a dexterous manipulation task requiring high force levels at certain points during the task execution. Through a user study involving unilateral and bilateral teleoperation experiments under different delays, it is observed that in both unilateral and bilateral teleoperation, the task completion time increases as delay increases. It is also seen that haptic feedback helps reduce the amount and rate of energy transfer to the environment and the occurrence of larger robot/environment interaction forces. However, with the users mindful of minimizing contact forces, haptic feedback causes the task to take more time compared to no haptic feedback regardless of the time delay. Thus, for tasks where low completion times are crucial given a tolerance for larger forces, unilateral feedback may be sufficient.

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“…A general hypothesis supported by past work [12][13][14] is that time delays in position feedforward and haptic feedback can disturb the human operator and cause misjudgement. The key question we pose in this paper is, how is the performance of this basic manipulation task influenced by delays in haptic feedback?…”

Section: Introductionmentioning

confidence: 98%

“…Subjected to a forced-choice paradigm (i.e., distinguish the stiffer of the two surfaces or identify them as having the same stiffness), users perceived the surfaces to be stiffer than actual under delayed force feedback and the stiffness overestimation increased for larger delays [12,13]. Recently, the effect of crossing the boundary of a force field, where local stiffness is ill-defined, on the perception of delayed stiffness has been studied [14]. It was found that subjects interacting with delayed force fields underestimate (overestimate) stiffness if they do not move (do move) across the boundary of the elastic field.…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of a Haptic Telemanipulation Task under Time Delay

2011

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There is ample research on the effect of haptic teleoperation under delayed communication channels in terms of stability and system performance. Little attention, however, has been paid to the effect of delayed force feedback on users' task performance and whether force feedback is beneficial under significant communication delays. This paper investigates whether force feedback improves user's task performance in delayed teleoperation. We study peg-in-the-hole insertion/retraction, dexterous manipulation tasks involving high degrees of freedom and high forces at certain points during task execution. A user study involving unilateral (without force feedback), bilateral (with force feedback) and graphical feedback teleoperation under various delays is presented. We observed that for all feedback modalities, task completion times increase as delay increases. Haptic feedback helps reduce contact forces and the occurrence of large robot/environment forces. Furthermore, graphical feedback helps users maintain the lowest range of forces at the cost of higher task completion times. With users mindful of minimizing contact forces, haptic/graphical feedback causes the task to take more time than unilateral control. Therefore, when short completion times are crucial given a tolerance for larger forces, force feedback only serves to increase the time required to perform the task; thus, unilateral control may be sufficient.

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A Regression and Boundary-Crossing-Based Model for the Perception of Delayed Stiffness

Cited by 65 publications

References 27 publications

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Analytical Study of Perceptual and Motor Transparency in Bilateral Teleoperation

Performance analysis of a manipulation task in time-delayed teleoperation

Performance Analysis of a Haptic Telemanipulation Task under Time Delay

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