&lt;title&gt;Novel interfaces for remote driving: gesture, haptic, and PDA&lt;/title&gt;

Fong, Terrence; Conti, F.; Grange, S.; Baur, Charles

doi:10.1117/12.417314

Cited by 68 publications

(40 citation statements)

References 23 publications

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“…For example, one gestural interface uses stylized gestures of arm and hand configurations 23 while another is limited to the use of gestural strokes on a PDA display. 24 The extent to which such devices will be employed in the environment of space has yet to be determined. However, since our interface has modules already in place, they are provided here for expository completeness.…”

Section: F5 /;G7=h9:ig I67a8dimentioning

confidence: 99%

Collaborating With Humanoid Robots in Space

Sofge

Bugajska

Trafton

et al. 2005

Int. J. Human. Robot.

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One of the great challenges of putting humanoid robots into space is developing cognitive capabilities for the robots with an interface that allows human astronauts to collaborate with the robots as naturally and efficiently as they would with other astronauts. In this joint effort with NASA and the entire Robonaut team we are integrating natural language and gesture understanding, spatial reasoning incorporating such features as human-robot perspective taking, and cognitive model-based understanding to achieve a high level of human-robot interaction. Building greater autonomy into the robot frees the human operator(s) from focusing strictly on the demands of operating the robot, and instead allows the possibility of actively collaborating with the robot to focus on the task at hand. By using shared representations between the human and robot, and enabling the robot to assume the perspectives of the human, the humanoid robot may become a more effective collaborator with a human astronaut for achieving mission objectives in space. I6789:;<7=96As we develop and deploy advanced humanoid robots such as Robonaut, 1 NASA's robotic astronaut assistant platform, to perform tasks in space in collaboration with human astronauts, we must consider carefully the needs and expectations of the human astronauts in interfacing and working with these humanoid robots. We want to endow the robots with the necessary capabilities for assisting the human astronauts in as efficient a manner as possible. Building greater autonomy into the robot will diminish the human burden for controlling the robot, and making the humanoid robot a much more useful collaborator for achieving mission objectives in space.In this effort we build upon our experience in designing multimodal human-centric interfaces and cognitive models for dynamically autonomous mobile robots. We argue that by building human-like capabilities into Robonaut's cognitive processes, we can achieve a high level of interactivity and collaboration between human astronauts and Robonaut. Some of the necessary components for this cognitive functionality addressed in this paper include use of cognitive architectures, natural language and gesture understanding, and spatial reasoning with human-robot perspective-taking.

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Section: F5 /;G7=h9:ig I67a8dimentioning

confidence: 99%

Collaborating With Humanoid Robots in Space

Sofge

Bugajska

Trafton

et al. 2005

Int. J. Human. Robot.

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“…• the local control loop must have a high frequency (10 to 20 times the force bandwidth [17] of the global control loop), to ensure (1) that vibrations are kept under a sensitive level (higher than the maximum human sensitivity, which is between 40Hz and 400Hz [18], ideally > 1kHz) and (2) that control stability is achieved at the desired contact stiffness with the hardest virtual object.…”

Section: Haptic Devices Characteristicsmentioning

confidence: 99%

“…In the KoalaDriver demo [2], a DHD was used as an input device to rate-control the motion of a mobile robot ( fig. 6).…”

Section: Applicationsmentioning

confidence: 99%

Delta Haptic Device as a nanomanipulator

et al. 2001

Self Cite

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At the EPFL, we have developed a force-feedback device and control architecture for high-end research and industrial applications. The Delta Haptic Device (DHD) consists of a 6 degrees-of-freedom (DOF) mecatronic device driven by a PC. Several experiments have been carried out in the fields of manipulation and simulation to assess the dramatic improvement haptic information brings to manipulation. This system is particularly well suited for scaled manipulation such as micro-, nano-and biomanipulation. Not only can it perform geometric and force scaling, but it can also include fairly complex physical models into the control loop to assist manipulation and enhance human understanding of the environment. To demonstrate this ability, we are currently interfacing our DHD with an atomic force microscope (AFM). In a first stage, we will be able to "feel" in real-time the topology of a given sample while visualizing it in 3D. The aim of the project is to make manipulation of carbon nanotubes possible by including physical models of such nanotubes behavior into the control loop, thus allowing humans to control complex structures. In this paper, we give a brief description of our device and present preliminary results of its interfacing with the AFM.

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“…Although the common modes of interaction for mobile robots have been a joystick or a mouse assisted by a graphical user interface, increasingly, voice or gestures are introduced as input modalities [5,6]. In this paper, we explore the task of interactively programming a vacuumcleaning robot.…”

Section: Introduction and Related Workmentioning

confidence: 99%