Evaluation of Human Factors for Assessing Human-Robot Interaction in Delayed Teleoperation

Wojtusch, Janis; Taubert, D.; Graber, Thorsten; Nergaard, Kim

doi:10.1109/smc.2018.00641

Cited by 7 publications

(5 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This understanding is what “differentiates between a user and a good user” (O1). This key finding aligns with and elaborates upon previous results from a survey of human-robot interaction, robotics and engineering experts who reported “situational understanding” as the most important factor in delayed teleoperation systems (Wojtusch et al, 2019 ). Here, we further identify the components required for the operator to achieve this situational understanding.…”

Section: Discussionsupporting

confidence: 88%

“…For example, rather than simply reporting that a motor is overheating, the system could report that it is overheating because the operator's grip force is too strong, so that the operator would know how to resolve this. Wojtusch et al ( 2019 ) also identified the importance of situational awareness, although did not specify a preference for how this should be addressed.…”

Section: Discussionmentioning

confidence: 99%

“…The second requirement reduces the mental workload of the operator, which is a significant factor for users (Wojtusch et al, 2019 ). In addition to a human-robot team, these systems also involve several human-human teams which must be considered.…”

Section: Discussionmentioning

confidence: 99%

See 2 more Smart Citations

Elicitation of trustworthiness requirements for highly dexterous teleoperation systems with signal latency

Louca,

Vrublevskis,

Eder

et al. 2023

Front. Neurorobot.

View full text Add to dashboard Cite

IntroductionTeleoperated robotic manipulators allow us to bring human dexterity and cognition to hard-to-reach places on Earth and in space. In long-distance teleoperation, however, the limits of the speed of light results in an unavoidable and perceivable signal delay. The resultant disconnect between command, action, and feedback means that systems often behave unexpectedly, reducing operators' trust in their systems. If we are to widely adopt telemanipulation technology in high-latency applications, we must identify and specify what would make these systems trustworthy.MethodsIn this requirements elicitation study, we present the results of 13 interviews with expert operators of remote machinery from four different application areas—nuclear reactor maintenance, robot-assisted surgery, underwater exploration, and ordnance disposal—exploring which features, techniques, or experiences lead them to trust their systems.ResultsWe found that across all applications, except for surgery, the top-priority requirement for developing trust is that operators must have a comprehensive engineering understanding of the systems' capabilities and limitations. The remaining requirements can be summarized into three areas: improving situational awareness, facilitating operator training, and familiarity, and easing the operator's cognitive load.DiscussionWhile the inclusion of technical features to assist the operators was welcomed, these were given lower priority than non-technical, user-centric approaches. The signal delays in the participants' systems ranged from none perceived to 1 min, and included examples of successful dexterous telemanipulation for maintenance tasks with a 2 s delay. As this is comparable to Earth-to-orbit and Earth-to-Moon delays, the requirements discussed could be transferable to telemanipulation tasks in space.

show abstract

Section: Discussionsupporting

confidence: 88%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Elicitation of trustworthiness requirements for highly dexterous teleoperation systems with signal latency

Louca,

Vrublevskis,

Eder

et al. 2023

Front. Neurorobot.

View full text Add to dashboard Cite

show abstract

“…One work provides an extensive framework for evaluating general teleoperation interfaces [8], and other works have evaluated ergonomics, comfort, and emotions of teleoperation interfaces in other domains [9], [10], [11], [12]. Robotic teleoperation has been evaluated through gaze distraction, situation awareness, user workload, user experience, system usability, and level of telepresence [13], [14], [15], [16], [17], [18], [19], [20], [21]. From a results-driven perspective, one can evaluate teleoperation through task success rate, completion time, and number of states completed during the task [22], [23].…”

Section: A Inception and Evaluation Of Teleoperationmentioning

confidence: 99%

How Well Do Drivers Adapt to Remote Operation? Learning from Remote Drivers with On-Road Experience

Hardin,

Salvini,

Jirotka

et al. 2024

2024 IEEE Intelligent Vehicles Symposium (IV)

View full text Add to dashboard Cite

Remote driving is a promising strategy for helping Autonomous Vehicles (AVs) navigate many environments where edge cases may otherwise limit their abilities. For some companies, remote driving is an alternative to AVs altogether. Much remote driving research has taken place in simulated or controlled environments with novice operators, leaving the needs of operators with real-world experience under-explored. This research aims to understand if experienced operators are satisfied with current production remote driving systems, if they adapt to the difference in control, and how their job satisfaction compares to in-vehicle safety driving. This paper briefly overviews recent remote driving research and presents results from a questionnaire and a semi-structured interview with experienced teleoperators. The findings indicate that operators do adjust to the new domain, but latency and network reliability remain a challenge. Likewise, standardised training practices for operators are found to be lacking.

show abstract

“…Latency increases with distance, so any teleoperation from ground control to the moon (3-10 seconds) or Mars (20 minutes) would have more issues with latency. Expert users have reported that latency significantly affects their understanding, performance, and efficiency during teleoperated task completion, among other human factors [14].…”

Section: Confounding Factors Affecting Space Teleoperationmentioning

confidence: 99%

On-Orbit Operations Simulator for Workload Measurement during Telerobotic Training

Freer,

Guo,

Deligianni

et al. 2020

Preprint

View full text Add to dashboard Cite

Training for telerobotic systems often makes heavy use of simulated platforms, which ensure safe operation during the learning process. Outer space is one domain in which such a simulated training platform would be useful, as On-Orbit Operations (O 3 ) can be costly, inefficient, or even dangerous if not performed properly. In this paper, we present a new telerobotic training simulator for the Canadarm2 on the International Space Station (ISS), and record physiological data from subjects as they perform a task from the simulator under conditions which increased workload (e.g. latency and time pressure). As most current workload measures are subjective and non-continuous, we analyse how objective measures from the simulator and physiological data can provide a more reliable and continuous measure. ANOVA of task data revealed which simulator-based performance measures could predict the presence of latency and time pressure. Furthermore, EEG classification using a Riemannian classifier and Leave-One-Subject-Out cross-validation showed promising classification performance. EEG results also reveal that Independent Component Analysis (ICA) preprocessing and centrally located channels are more discriminative for 5-class discrimination, whereas information derived from the EEG parietal channels was more accurate in two-class classification of latency and time pressure paradigms.

show abstract

Evaluation of Human Factors for Assessing Human-Robot Interaction in Delayed Teleoperation

Cited by 7 publications

References 14 publications

Elicitation of trustworthiness requirements for highly dexterous teleoperation systems with signal latency

Elicitation of trustworthiness requirements for highly dexterous teleoperation systems with signal latency

How Well Do Drivers Adapt to Remote Operation? Learning from Remote Drivers with On-Road Experience

On-Orbit Operations Simulator for Workload Measurement during Telerobotic Training

Contact Info

Product

Resources

About