Haptic Support for Bi-manual Control of a Suspended Grab for Deep-Sea Excavation

Kuiper, Roel J.; Frumau, Jan C. L.; Helm, F.C.T. van der; Abbink, David A.

doi:10.1109/smc.2013.314

Cited by 11 publications

(5 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This concept essentially acts as a second controller and is known as haptic shared control [20], [21]. It has been applied to car driving [20]- [23], subsea robotics [24], teleoperated surgery [25], and nuclear maintenance [26].…”

mentioning

confidence: 99%

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Kuiper

Heck

Kuling

et al. 2016

IEEE Trans. Human-Mach. Syst.

Self Cite

View full text Add to dashboard Cite

Abstract-Remote control of vehicles is a difficult task for operators. Support systems that present additional task information may assist operators, but their usefulness is expected to depend on several factors such as 1) the nature of conveyed information, 2) what modality it is conveyed through, and 3) the task difficulty. In an exploratory experiment, these three factors were manipulated to quantify their effects on operator behavior. Subjects (n = 15) used a haptic manipulator to steer a virtual nonholonomic vehicle through abstract environments, in which obstacles needed to be avoided. Both a simple support conveying near-future predictions of the trajectory of the vehicle and a more elaborate support that continuously suggests the path to be taken were designed (factor 1). These types of information were offered either with visual or haptic cues (factor 2). These four support systems were tested in four different abstracted environments with decreasing amount of allowed variability in realized trajectories (factor 3). The results show improvements for the simple support only when this information was presented visually, but not when offered haptically. For the elaborate support, equally large improvements for both modalities were found. This suggests that the elaborate support is better: additional information is key in improving performance in nonholonomic steering tasks.

show abstract

mentioning

confidence: 99%

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Kuiper

Heck

Kuling

et al. 2016

IEEE Trans. Human-Mach. Syst.

Self Cite

View full text Add to dashboard Cite

show abstract

“…The design of adequate automatic controllers for human-machine shared-control systems requires the consideration and understanding of the control action of the human, which increases the acceptance and the performance of the control system [2]. In literature, there are several problemspecific shared-control concepts for applications like working machines [3], sea excavator [4], in the development of cooperative assistive wheelchair [5] or automated and autonomous vehicles [6], [7], [8], [9]. However, because these concepts are problem-specific, they are not easily generalizable.…”

Section: Introductionmentioning

confidence: 99%

Limited Information Shared Control: A Potential Game Approach

Varga,

Inga,

Hohmann

2022

Preprint

View full text Add to dashboard Cite

This paper presents a systematic method for the design of a limited information shared controller (LISC). LISC is used in applications where not all system states or references trajectories are measurable by the automation. Typical examples are partially human controlled systems, in which some subsystems are fully controlled by the automation, while others are controlled by a human. The proposed systematic design uses a novel class of games to model human-machine interaction:The near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG which completely describes a given differential game. The proposed design method is applied to the control of a large vehicle manipulator system, in which the manipulator is controlled by the human operator and the vehicle is fully automated. The suitability of the NPDG modelling differential games is verified in simulations leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects indicating the applicability of the proposed concept in real applications.

show abstract

“…Haptic shared control (HSC) is a branch of the shared control in which control inputs of both humans and a machine are force or torque to a single control terminal, and the human operator perceives the input of the machine through the haptic information sensation generated by the terminal [14], [15]. HSCs have been introduced in a wide range of fields of human-machine cooperation, such as the automotive field to assist drivers [16], telemanipulation in space [17], underwater robots [18], [19], and aircraft control [20]. All of the above studies suggest that the total system performance improves on account of human-machine interaction.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Path-following Control of Remotely Operated Underwater Robots for Human Visual Inspection Task

Sato¹,

Liu²,

Sakagami³

et al. 2022

Preprint

View full text Add to dashboard Cite

Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance methods for the operators are desired. This study focuses on a task in which a human operator controls an underwater robot to follow a certain path while visually inspecting objects in the vicinity of the path. In such a task, it is desirable to realize the speed of trajectory control manually because the visual inspection is performed by a human operator. However, to allocate resources to visual inspection, it is desirable to minimize the workload on the path-following by assisting with the automatic control. Therefore, the objective of this study was to develop a cooperative path-following control method that achieves the above-mentioned task by expanding a robust path-following control law of nonholonomic wheeled vehicles.To simplify this problem, we considered a path-following and visual objects recognition task in a two-dimensional plane. We conducted an experiment with participants (n=16) who completed the task using the proposed method and manual control. The results showed that both the path-following errors and the workload of the participants were significantly smaller with the proposed method than with manual control. In addition, subjective responses demonstrated that operator attention tended to be allocated to objects recognition rather than robot operation tasks with the proposed method. These results indicate the effectiveness of the proposed cooperative path-following control method.

show abstract

Haptic Support for Bi-manual Control of a Suspended Grab for Deep-Sea Excavation

Cited by 11 publications

References 21 publications

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Limited Information Shared Control: A Potential Game Approach

Cooperative Path-following Control of Remotely Operated Underwater Robots for Human Visual Inspection Task

Contact Info

Product

Resources

About