A Wearable GUI for Field Robots

Hedström, Andreas; Christensen, Henrik I.; Lundberg, Carl

doi:10.1007/978-3-540-33453-8_31

Cited by 5 publications

(5 citation statements)

References 3 publications

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“…A decade ago, this information was usually not displayed in the Operator Control Unit (OCU) [15], but more recently, it is often added in the form of a "signal bar" (as in modern cell phones) or in form of a percentage. Typical examples of such representation can be seen in [16], [17] including the recent Quince 2 robot's OCU [18]. Furthermore, the Wayfarer OCU for Packbot robots [19] represent the radio signal level in a vertical bar manner, in addition to a numeric indicator.…”

Section: Related Workmentioning

confidence: 99%

“…In [20], [21] two microphones on the left and right of the robot were used to estimate the direction of a sound source, which was displayed (overlaid on the video) in the form of a pointer floating on horizontal and vertical lines. A similar representation was used in [17] to show robot speed information. In [22], the authors proposed a tactile belt that vibrates in the direction of detected collisions to improve SA, while in [23] a study found that the use of a tactile vest did not improve SA significantly in navigation tasks.…”

Section: Related Workmentioning

confidence: 99%

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A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings

Parasuraman¹,

Caccamo²,

Båberg³

et al. 2017

Journal of Human-Robot Interaction

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A reliable wireless connection between the operator and the teleoperated unmanned ground vehicle (UGV) is critical in many urban search and rescue (USAR) missions. Unfortunately, as was seen in, for example, the Fukushima nuclear disaster, the networks available in areas where USAR missions take place are often severely limited in range and coverage. Therefore, during mission execution, the operator needs to keep track of not only the physical parts of the mission, such as navigating through an area or searching for victims, but also the variations in network connectivity across the environment.In this paper, we propose and evaluate a new teleoperation user interface (UI) that includes a way of estimating the direction of arrival (DoA) of the radio signal strength (RSS) and integrating the DoA information in the interface. The evaluation shows that using the interface results in more objects found, and less aborted missions due to connectivity problems, as compared to a standard interface.The proposed interface is an extension to an existing interface centered on the video stream captured by the UGV. But instead of just showing the network signal strength in terms of percent and a set of bars, the additional information of DoA is added in terms of a color bar surrounding the video feed. With this information, the operator knows what movement directions are safe, even when moving in regions close to the connectivity threshold.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings

Parasuraman¹,

Caccamo²,

Båberg³

et al. 2017

Journal of Human-Robot Interaction

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“…We chose to use a gamepad controller as a basis for comparison with the DPI since it is a widely-used form of teleoperative mobile robot control [21], [31], [26]. It is important to note that we have attempted to make the gamepad interface and DPI comparable.…”

Section: Similarity Of the Interfacesmentioning

confidence: 99%

Lead me by the hand: Evaluation of a direct physical interface for nursing assistant robots

Chen

Kemp

2010

2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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When a user is in close proximity to a robot, physical contact becomes a potentially valuable channel for communication. People often use direct physical contact to guide a person to a desired location (e.g., leading a child by the hand) or to adjust a person's posture for a task (e.g., a dance instructor working with a dancer). Within this paper, we present an implementation and evaluation of a direct physical interface for a human-scale anthropomorphic robot. We define a direct physical interface (DPI) to be an interface that enables a user to influence a robot's behavior by making contact with its body. Human-human interaction inspired our interface design, which enables a user to lead our robot by the hand and position its arms. We evaluated this interface in the context of assisting nurses with patient lifting, which we expect to be a high-impact application area. Our evaluation consisted of a controlled laboratory experiment with 18 nurses from the Atlanta area of Georgia, USA. We found that our DPI significantly outperformed a comparable wireless gamepad interface in both objective and subjective measures, including number of collisions, time to complete the tasks, workload (Raw Task Load Index), and overall preference. In contrast, we found no significant difference between the two interfaces with respect to the users' perceptions of personal safety.

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“…The two crawlers have identical configurations, and their chasis differ from the PackBot used in [2] on how many flippers they have. The two extra flippers at each crawler give extra grip power and maneuverability, so that the operator will be allowed to have much easier access to more restrained places.…”

Section: System Descriptionmentioning

confidence: 99%

“…Incoming information must be gathered, organized, and displayed in a proper manner for the operator to be able to take decisions based on that information [2], [9]. How readable and understandable that information is presented is one of the key factors for the remote navigation to be successful.…”

Section: Prototype Guimentioning

confidence: 99%

Development of a Networked Robotic System for Disaster Mitigation, -Navigation System based on 3D Geometry Acquisition

Vargas

Mizuuchi

Endo

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper the authors present the current progress of a networked robotic system intented to be deployed at disaster areas. This system is formed by three mobile robots: two twin crawlers that will have search-and-recognition tasks gathering information about their surroundings, and an outdoorwheeled rover that will approach the area and which will also carry the two crawlers. The communication system for these robots consists of a wireless local area network that will have an operator located at a safe distance controlling them. As a final communication objective, the integration of a satellite-based IP communication, linked to the japanese satellite ETS-VIII is scheduled. In order to be able to navigate the crawlers remotely, a wireless LAN camera and a Laser Range Finder (LRF) sensor have been mounted on both of the crawlers. These LRFs will scan the area where the crawler is at, obtaining a detailed point-based 3D image. A special focus of this paper is made on the possibility of maneuvering the crawlers based only on the remotely-acquired LRF and camera's information.

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A Wearable GUI for Field Robots

Cited by 5 publications

References 3 publications

A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings

A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings

Lead me by the hand: Evaluation of a direct physical interface for nursing assistant robots

Development of a Networked Robotic System for Disaster Mitigation, -Navigation System based on 3D Geometry Acquisition

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