Core-bored search-and-rescue applications for an agile limbed robot

Voyles, Richard M.; Larson, A.C.; Bae, Jaewook; LaPoint, M.A.

doi:10.1109/iros.2004.1389329

Cited by 17 publications

(14 citation statements)

References 19 publications

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“…Since emergency responders are required to wear heavy gloves to insulate themselves from the hazardous environment, we have been investigating ways to embed wearable human/robot interfaces into the bulky clothing itself --exploiting it as an asset, rather then a liability. presented in [13] (and shown in Figure 1) for our USAR robot, TerminatorBot [4], which is a miniature robot for core-bored inspection tasks. This interface paradigm grew from the burdens of providing an intuitive interface and controller for the TerminatorBot with conventional interaction devices (Figure 2).…”

Section: Introductionmentioning

confidence: 99%

The gestural joystick and the efficacy of the path tortuosity metric for human/robot interaction

Voyles

Bae

Godzdanker

2008

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems

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This paper describes the design and evaluation of the "gestural joystick," a wearable 2-D pointing controller for mobile robots in hazardous environments that uses hand gestures. Hazardous environments, such as that of a collapsed building search, require operators to wear a significant amount of protective clothing. This protective clothing, which may include hard hats, suits, gloves, goggles, etc., reduces comfort, mobility, dexterity, load capacity, and ability to interact with conventional computer input devices. The gestural joystick, which is embedded in protective clothing, mitigates some of these impacts, but at the cost of lesser familiarity for the user and, therefore, potentially lesser performance. Effective performance metrics are required to evaluate this interface mechanism. Path tortuosity has been proposed as a performance metric for the evaluation of teleoperation of a robot, but has not been proven to be distinct from time-to-complete metrics. By injecting controlled uncertainty between the user and robot, we show, for the first time, that path tortuosity is a useful and distinct metric for the evaluation of robot teleoperation.

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Section: Introductionmentioning

confidence: 99%

The gestural joystick and the efficacy of the path tortuosity metric for human/robot interaction

Voyles

Bae

Godzdanker

2008

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems

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“…3,5,7 The unique requirements of these tasks are far from the functions provided by a traditional input interface. Therefore, we suggested a special glove input interface to control a TerminatorBot for USAR.…”

Section: Glove Input Interfacementioning

confidence: 99%

“…3, we suggest a magnetic sensor device for a wire-free glove. The glove is completely passive, with only a magnet (or magnets) in the cuff, while magnetic flux sensors are embedded in the sleeve of a coverall or jacket.…”

Section: Magnetic Sensormentioning

confidence: 99%

“…However, since operators in urban search and rescue (USAR) are required to wear heavy and strong gloves to insulate themselves from the hazardous environment, we began to exploit these gloves as an opportunity to embed weable sensors. 3 The user interaction method based on traditional input devices may be inappropriate for some specialized applications, such as urban search and resuce, military operations, and medical service. 4 We propose a novel wearable input interface device that focuses on uncumbersome installation as well as operation.…”

Section: Introductionmentioning

confidence: 99%

“…3 The TerminatorBot has been developed for use in core-bored inspection during USAR tasks. In this literature, we improve the sensing accuracy and magnetic sensor structure of the system and evaluate the system with two metrics, operational time and path tortuosity.…”

Section: Introductionmentioning

confidence: 99%

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Wearable joystick for gloves-on human/computer interaction

Bae

Voyles

2006

SPIE Proceedings

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In this paper, we present preliminary work on a novel wearable joystick for gloves-on human/computer interaction in hazardous environments. Interacting with traditional input devices can be clumsy and inconvenient for the operator in hazardous environments due to the bulkiness of multiple system components and troublesome wires. During a collapsed structure search, for example, protective clothing, uneven footing, and "'snag"' points in the environment can render traditional input devices impractical. Wearable computing has been studied by various researchers to increase the portability of devices and to improve the proprioceptive sense of the wearer's intentions. Specifically, glove-like input devices to recognize hand gestures have been developed for generalpurpose applications. But, regardless of their performance, prior gloves have been fragile and cumbersome to use in rough environments. In this paper, we present a new wearable joystick to remove the wires from a simple, two-degree of freedom glove interface. Thus, we develop a wearable joystick that is low cost, durable and robust, and wire-free at the glove. In order to evaluate the wearable joystick, we take into consideration two metrics during operator tests of a commercial robot: task completion time and path tortuosity. We employ fractal analysis to measure path tortuosity. Preliminary user test results are presented that compare the performance of both a wearable joystick and a traditional joystick.

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