Effects of Machine Instability Feedback on Safety During Digging Operation in Teleoperated Excavators

Ito, Masaru; Raima, Chiaki; Saiki, Sachio; Yamazaki, Yoichiro; Kurita, Yuichi

doi:10.1109/access.2021.3059710

Cited by 18 publications

(11 citation statements)

References 28 publications

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“…12). This simulator is similar to the simulator used in the previous study [7] except for the lever, seat, and display. The simulator was built using the game engine Unity, and the excavator could be operated with the force presentation levers (Fig.…”

Section: B Operating Simulator Of Hydraulic Excavator Used For Operab...mentioning

confidence: 99%

“…Conventional studies have shown that appropriate feedback design using graphics, sound, and vibration improves operability [3]- [5]. Ito et al upgraded the operability of a teleoperated excavator by presenting the machine instability during excavation with visual information [6], [7]. The reaction force design of the operator interface also increases operability.…”

Section: Introductionmentioning

confidence: 99%

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Force Feedback Design of Operation Levers Considering the Characteristics of Human Force Perception to Improve Hydraulic Excavator Operability

et al. 2022

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Appropriate reaction force design is essential to improve the lever operability of a hydraulic excavator that is difficult to operate. However, the force characteristics a human perceives when operating these levers are unknown. It is unclear whether the reaction force characteristics of the conventional lever are optimum for humans. Thus, this study aims to clarify the perceived force characteristics during the lever operation and verify the effectiveness of the lever reaction force design. In this study, a perceived force prediction method was proposed based on a musculoskeletal simulation for the lever operation. Also, it was confirmed that the perceived force could be estimated within a 7.8%-14.3% root mean square error. Furthermore, we developed the lever with the reaction force characteristics in which the perceived force varied linearly with the lever angle and confirmed that the proposed lever significantly improved operability when performing the leveling task with the excavator.

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Section: B Operating Simulator Of Hydraulic Excavator Used For Operab...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Force Feedback Design of Operation Levers Considering the Characteristics of Human Force Perception to Improve Hydraulic Excavator Operability

et al. 2022

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“…Remote operation of hydraulic excavators has been carried out to ensure workers' safety at disaster/mining sites and improves the working environment that involves preventing long-distance travel to remote mining sites (Ito et al, 2017). In conventional methods, multi-screens and control joystick have been installed (Moteki et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

“…In conventional methods, multi-screens and control joystick have been installed (Moteki et al, 2016). However, Ito et al have reported that those methods decrease the work efficiency to less than 50% compared with the on-site operation because of the difficulty of recognizing the hydraulic excavator status and the surrounding environment (Ito et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

“…A 3-DOF motion base was used for cock-pit to present the excavator's vibration and tilt (Yamada et al, 2014). Ito et al proposed visual feedback of machine instability to the operator to avoid tipping over, and proposed the instability of the machine obtained from the attitude of the attachment and the excavation reaction force (Ito et al, 2021). Nagano et al transmitted the contact information of a construction robot to the operator by converting the measured collision vibration, which is often beyond the range of human perception, into an amplitude modulated wave with a single carrier frequency that is within the range of human perception (Nagano et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

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Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics

Okada

Iwano

2021

Mechanical Engineering Journal

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Conventional remote operation of an excavator has low work efficiency comparing with on-site operations. This is because it is difficult for an operator to recognize the excavator status and surrounding environments. Moreover, there are restrictions such as a limitation on the amount of information that can be transmitted, delays in communication, and harsh environments that cause sensor failure. Therefore, we have developed a semi-autonomous control system that consists of autonomy and human manipulation. This paper proposes (1) a bilateral control system based on variable admittance and (2) an autonomous control using nonlinear dynamics that has attractors with stagnation and trajectory-bifurcation. (1) In the proposed method, the admittance parameters are changed based on the difference between the leader and follower position. We implement the proposed method into a prototype of excavator and verify the operation with two types of external environmental forces: free movement and contact with a rock. (2) The attractor's stagnation is designed as a sink of vector field converging to an arbitrary point on the trajectory. A stagnation is placed at a trajectory's bifurcation point, and the operator selects the next operation by adding a force to the leader system, which is measured through a force sensor. We design two types of bifurcating attractors and conduct an experimental verification of the proposed semi-autonomous control system.

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Development of disaster‐responding special‐purpose machinery: Results of experiments

Kim

Park

Han

et al. 2022

Journal of Field Robotics

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The frequent occurrence of disasters has prompted the development of efficient disaster-responding equipment. This study deals with the design of special-purpose machinery and its performance assessment. We defined scenarios through the environmental analysis of disaster situations and expert consulting. We also formulated a set of design specifications by analyzing the objectives of the tasks that must be performed at disaster sites, based on simulated scenarios and existing disaster response machinery. The disaster-responding special-purpose machinery was designed to perform various tasks and display rapid movement in disaster situations. Moreover, this paper presents the control structure configured to operate the developed machinery. The performance of the special-purpose machinery was assessed through different scenario tests.

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Effects of Machine Instability Feedback on Safety During Digging Operation in Teleoperated Excavators

Cited by 18 publications

References 28 publications

Force Feedback Design of Operation Levers Considering the Characteristics of Human Force Perception to Improve Hydraulic Excavator Operability

Force Feedback Design of Operation Levers Considering the Characteristics of Human Force Perception to Improve Hydraulic Excavator Operability

Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics

Development of disaster‐responding special‐purpose machinery: Results of experiments

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