Development of a Shared Controller for Obstacle Avoidance in a Teleoperation System

Han, JiWoong; Cho, Kyung-Hwan; Jang, Inhoon; Ju, Chanyoung; Yang, Gi-Hun

doi:10.1007/s12555-019-0410-0

Cited by 8 publications

(2 citation statements)

References 28 publications

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“…Additionally, it should be noted that this type of device is essential in the control of semi-autonomous robots [ 32 , 33 ]. At this point, the implementation of interfaces that involved force or haptic feedback [ 34 ] for obstacle avoidance tasks in dynamic environments and assisted navigation [ 35 , 36 ] should be highlighted. Unfortunately, despite their adequate performance, this kind of application has shown calibration problems due to interface vibration [ 37 ].…”

Section: Related Workmentioning

confidence: 99%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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The constant growth of pathologies affecting human mobility has led to developing of different assistive devices to provide physical and cognitive assistance. Smart walkers are a particular type of these devices since they integrate navigation systems, path-following algorithms, and user interaction modules to ensure natural and intuitive interaction. Although these functionalities are often implemented in rehabilitation scenarios, there is a need to actively involve the healthcare professionals in the interaction loop while guaranteeing safety for them and patients. This work presents the validation of two visual feedback strategies for the teleoperation of a simulated robotic walker during an assisted navigation task. For this purpose, a group of 14 clinicians from the rehabilitation area formed the validation group. A simple path-following task was proposed, and the feedback strategies were assessed through the kinematic estimation error (KTE) and a usability survey. A KTE of 0.28 m was obtained for the feedback strategy on the joystick. Additionally, significant differences were found through a Mann–Whitney–Wilcoxon test for the perception of behavior and confidence towards the joystick according to the modes of interaction (p-values of 0.04 and 0.01, respectively). The use of visual feedback with this tool contributes to research areas such as remote management of therapies and monitoring rehabilitation of people’s mobility.

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Section: Related Workmentioning

confidence: 99%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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“…The most significant characteristic of an NCS is that it connects cyberspace to physical space, so the execution of tasks from long distance becomes realistic. Nowadays, the NCS has been widely used in industry [2], e.g., distributed network based manufacturing control systems [3,4], mobile teleoperation systems [5][6][7][8], network based process control engineering systems [9], controller area network based vehicle industry [10,11], and human surveillance systems [12].…”

Section: Introductionmentioning

confidence: 99%

Reliability Analysis of Networked Control Systems with the Consideration of Operating Frequency

Guo

2021

Int. J. Control Autom. Syst.

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The operating frequency of the networked control system (NCS) determines both its control performance and heat flux density. Considering the significant effect of thermal stress on the reliability of electronics, a quantitative reliability analysis framework is proposed for NCSs with the consideration of its operating frequency. It includes 5 main steps: 1) Compute the power consumption of all its electronic components using circuit simulation; 2) obtain the thermal stress of these components by thermal simulation; 3) apply the thermal stress results to assess the reliability of components using the part stress analysis method; 4) calculate the reliability of the modules using reliability block diagrams; and 5) quantify the reliability of the NCS by combining the graph reduction method and other network reliability algorithms together. A double loop networked control system is used as an example to verify the effectiveness of our method.

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Haptic Feedback Remote Control System for Electric Mechanical Assembly Vehicle Developed to Avoid Obstacles

Kowol

Nowak

Banas

et al. 2023

J Intell Robot Syst

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Development of a Shared Controller for Obstacle Avoidance in a Teleoperation System

Cited by 8 publications

References 28 publications

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Reliability Analysis of Networked Control Systems with the Consideration of Operating Frequency

Haptic Feedback Remote Control System for Electric Mechanical Assembly Vehicle Developed to Avoid Obstacles

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