Four-Arm Manipulation via Feet Interfaces

Sanchez, Jacob Hernandez; Amanhoud, Walid; Haget, Anaïs Betsabeh; Bleuler, Hannes; Billard, Aude; Bouri, Mohamed

doi:10.48550/arxiv.1909.04993

Cited by 4 publications

(3 citation statements)

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“…To enable the association of the feedback received on the natural limbs with the interaction of the SE with the environment, haptic feedback is required e.g. through a robotic interface [14], [32], [52].…”

Section: Sensory Feedbackmentioning

confidence: 99%

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Human movement augmentation and how to make it a reality

Eden¹,

Bräcklein²,

Pereda³

et al. 2021

Preprint

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Augmenting the body with artificial limbs controlled concurrently to the natural limbs has long appeared in science fiction, but recent technological and neuroscientific advances have begun to make this vision possible. By allowing individuals to achieve otherwise impossible actions, this movement augmentation could revolutionize medical and industrial applications and profoundly change the way humans interact with their environment. Here, we construct a movement augmentation taxonomy through what is augmented and how it is achieved. With this framework, we analyze augmentation that extends the number of degrees-of-freedom, discuss critical features of effective augmentation such as physiological control signals, sensory feedback and learning, and propose a vision for the field.

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Section: Sensory Feedbackmentioning

confidence: 99%

“…For instance, a seated operator can use a passive foot interface placed on the ground to control four sDoF [52]. Active interfaces have been used both feet [14], a hand and a foot [25] and an elbow [60].…”

Section: Introductionmentioning

confidence: 99%

Human movement augmentation and how to make it a reality

Eden¹,

Bräcklein²,

Pereda³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Refs. [25][26][27] provided vibrotactile feedback on the leg of the user proportional to either the position of the end-effector or the joints' angles or torques, whereas [28] used pressure feedback on the user's feet to convey the end-effector contact force. However, these studies employed non-wearable robotic arms that, thus, do not provide inherent feedback.…”

Section: Introductionmentioning

confidence: 99%

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Buratti,

Deiana,

Noccaro

et al. 2023

Machines

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Supernumerary robotic limbs are mainly designed to augment the physical capabilities of able-bodied individuals, in a wide range of contexts from body support to surgery. When they are worn as wearable devices, they naturally provide inherent feedback due to the mechanical coupling with the human body. The user can, thus, perceive the interaction with the environment by relying on a combination of visual and inherent feedback. However, these can be inefficient in accomplishing complex tasks, particularly in the case of visual occlusion or variation in the environment stiffness. Here, we investigated whether, in a force-regulation task using a wearable supernumerary robotic arm (SRA), additional vibrotactile feedback can increase the control performance of participants compared to the inherent feedback. Additionally, to make the scenario more realistic, we introduced variations in the SRA’s kinematic posture and in the environment stiffness. Notably, our findings revealed a statistically significant improvement in user performance over all the evaluated metrics while receiving additional vibrotactile feedback. Compared to inherent feedback alone, the additional vibrotactile feedback allowed participants to exert the required force faster (p < 0.01), to maintain it for longer (p < 0.001), and with lower errors (p < 0.001). No discernible effects related to the SRA’s posture or environment stiffness were observed. These results proved the benefits of providing the user with additional vibrotactile feedback to convey the SRA’s force during interaction tasks.

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Impact of supplementary sensory feedback on the control and embodiment in human movement augmentation

Pinardi,

Longo,

Formica

et al. 2023

Commun Eng

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In human movement augmentation, the number of controlled degrees of freedom could be enhanced by the simultaneous and independent use of supernumerary robotic limbs (SRL) and natural ones. However, this poses several challenges, that could be mitigated by encoding and relaying the SRL status. Here, we review the impact of supplementary sensory feedback on the control and embodiment of SRLs. We classify the main feedback features and analyse how they improve control performance. We report the feasibility of pushing body representation beyond natural human morphology and suggest that gradual SRL embodiment could make multisensory incongruencies less disruptive. We also highlight shared computational bases between SRL motor control and embodiment and suggest contextualizing them within the same theoretical framework. Finally, we argue that a shift towards long term experimental paradigms is necessary for successfully integrating motor control and embodiment.

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Four-Arm Manipulation via Feet Interfaces

Cited by 4 publications

References 0 publications

Human movement augmentation and how to make it a reality

Human movement augmentation and how to make it a reality

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Impact of supplementary sensory feedback on the control and embodiment in human movement augmentation

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