Kinesthetic and visual force display for telerobotics

Williams, L.; Loftin, R. Bowen; Aldridge, Hal; Leiss, Ernst L.; Bluethmann, William

doi:10.1109/robot.2002.1014714

Cited by 22 publications

(17 citation statements)

References 4 publications

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“…Force feedback has been shown, specifically for teleoperator systems, to improve performance of the operator in terms of reduced completion times, decreased peak forces and torques, and decreased cumulative forces and torques (Hill, 1979;Draper et al, 1987;Hannaford et al, 1991;Kim, 1991;Massimino & Sheridan, 1994;Murray et al, 1997;Williams et al, 2002;O'Malley & Ambrose, 2003). For training, virtual environments can provide a setting for safe, repeatable practice, and the inclusion of haptic feedback in such environments improves feelings of 2.4 Human Factors Design of the Interface realism in the task, increasing the likelihood for skill transfer from the virtual to the real environment.…”

Section: When To Select a Haptic Interfacementioning

confidence: 99%

Haptic Interfaces

O’Malley¹,

Gupta²

2008

HCI Beyond the GUI

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Section: When To Select a Haptic Interfacementioning

confidence: 99%

Haptic Interfaces

O’Malley¹,

Gupta²

2008

HCI Beyond the GUI

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“…[8][9][10][11][12][13][14][15][16] This, for example, is the case in innovative devices used for minimally invasive surgery or rehabilitation 17 where surgeons or users replicate their movements in the working area. These tools can be, for example, haptic interfaces with force feedback control [18][19][20][21][22][23][24] or simply joysticks and/or space balls. 25,26 In addition to this, augmented reality can enhance the sensation of involvement in the action even though the working area is distant from the 1 Scuola Superiore Sant'Anna, Pontedera, Italy 2 The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy master control side.…”

Section: Introductionmentioning

confidence: 99%

A novel shared control algorithm for industrial robots

Ramacciotti

Milazzo

Leoni

et al. 2016

International Journal of Advanced Robotic Systems

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Human management of robots in many specific industrial activities has long been imperative, due to the elevated levels of complexity involved, which can only be overcome through long and wasteful preprogrammed activities. The shared control approach is one of the most emergent procedures that can compensate and optimally couple human smartness with the high precision and productivity characteristic to mechatronic systems. To explore and to exploit this approach in the industrial field, an innovative shared control algorithm was elaborated, designed and validated in a specific case study.

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“…Most forms of interaction with computerized simulations involve only visual and auditory information. However, it is shown that the addition of haptic feedback to virtual environment simulations provide benefits over visual or auditory displays via reduced learning times, improved task performance quality, increased dexterity, and increased feelings of realism and presence [Massimino and Sheridan 1994;Richard and Coiffet 1995;Meech and Solomonides 1996;Adams et al 2001;Williams et al 2002;]. …”

Section: Introductionmentioning

confidence: 99%

Negative efficacy of fixed gain error reducing shared control for training in virtual environments

Patoğlu

O’Malley

2009

ACM Trans. Appl. Percept.

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Virtual reality with haptic feedback provides a safe and versatile practice medium for many manual control tasks. Haptic guidance has been shown to improve performance of manual control tasks in virtual environments; however, the efficacy of haptic guidance for training in virtual environments has not been studied conclusively. This article presents experimental results that show negative efficacy of haptic guidance during training in virtual environments. The haptic guidance in this study is a fixed-gain error-reducing shared controller, with the control effort overlaid on the dynamics of the manual control task during training. Performance of the target-hitting manual control task in the absence of guidance is compared for three training protocols. One protocol contained no haptic guidance and represented virtual practice. Two protocols utilized haptic guidance, varying the duration of exposure to guidance during the training sessions. Exposure to the fixed-gain error-reducing shared controller had a detrimental effect on performance of the target-hitting task at the conclusion of a month-long training protocol, regardless of duration of exposure. While the shared controller was designed with knowledge of the task and an intuitive sense of the motions required to achieve good performance, the results indicate that the acquisition of motor skill is a complex phenomenon that is not aided with haptic guidance during training as implemented in this experiment.

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Kinesthetic and visual force display for telerobotics

Cited by 22 publications

References 4 publications

Haptic Interfaces

Haptic Interfaces

A novel shared control algorithm for industrial robots

Negative efficacy of fixed gain error reducing shared control for training in virtual environments

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