Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Son, Hyoung Il; Chuang, Lewis L.; Franchi, Antonio; Kim, Junsuk; Lee, Dongjun; Lee, Seong–Whan; Bülthoff, Heinrich H.; Giordano, Paolo Robuffo

doi:10.1109/iros.2011.6048185

Cited by 13 publications

(14 citation statements)

References 6 publications

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“…2) Scenario 2-straight path with obstacles: As reported in [38], with large gain, the Force cue yielded significantly higher performance compared to Velocity and Velocity+Force cues for both the horizontal and vertical components. With low gain values, however, the haptic cue conditions significantly differed on the measure of Φ maneuv 2 , for the horizontal component of flight (F 2,34 = 24.3, p < 0.001), but not on the other measures.…”

Section: ) Scenario 1-straight Path With No Obstaclesmentioning

confidence: 78%

“…On the other hand, with large gain values, the Force cue condition yielded significantly larger Φ maneuv 2 values compared to the Velocity+Force condition [38].…”

Section: ) Scenario 1-straight Path With No Obstaclesmentioning

confidence: 85%

“…This moving target preceded the UAV swarm and moved along a preassigned path, which was either straight or curved (see Fig. 5 and [38] for details). Prior to experimentation, the participants were given a detailed tutorial about the experiment and were provided a training session with the Omega for about 10 mins to get them familiarized with the haptic device and the procedure.…”

Section: A Proceduresmentioning

confidence: 99%

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Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots

Son

Franchi

Chuang

et al. 2013

IEEE Trans. Cybern.

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Abstract-In this paper, we investigate the effect of haptic cueing on human operator's performance in the field of bilateral teleoperation of multiple mobile robots, in particular multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely the maneuverability of mobile robots and perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocity of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in teleoperator's performance.

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Section: ) Scenario 1-straight Path With No Obstaclesmentioning

confidence: 78%

“…On the other hand, with large gain values, the Force cue condition yielded significantly larger Φ maneuv 2 values compared to the Velocity+Force condition [38].…”

Section: ) Scenario 1-straight Path With No Obstaclesmentioning

confidence: 85%

Section: A Proceduresmentioning

confidence: 99%

See 1 more Smart Citation

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots

Son

Franchi

Chuang

et al. 2013

IEEE Trans. Cybern.

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“…In a parallel study, we have found that the Force cue induces better multi-UAV maneuverability by reducing control effort, relative to the Velocity cue [18]. Hence, there exists a clear challenge in establishing the appropriate employment of haptic cues according to the changing demands of multi-UAV control.…”

Section: Discussionmentioning

confidence: 98%

An evaluation of haptic cues on the tele-operator's perceptual awareness of multiple UAVs' environments

Son

Kim

Chuang

et al. 2011

2011 IEEE World Haptics Conference

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The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First, we describe a control scheme that allows a teleoperator to manipulate the flight of multiple UAVs in a remote environment. Next, we present three designs of haptic cue feedback that could increase the teleoperator's environmental awareness of such a remote environment. These cues are based on the UAVs' i) velocity information, ii) proximity to obstacles, and iii) a combination of these two sources of information. Finally, we present an experimental evaluation of these haptic cue designs. Our evaluation is based on the teleoperator's perceptual sensitivity to the physical environment inhabited by the multiple UAVs. We conclude that a teleoperator's perceptual sensitivity is best served by haptic feedback cues that are based on the velocity information of multiple UAVs.

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“…The results showed that haptic feedback should be closely tied to environmental information which relates to the given task and not internal swarm state information. The studies herein replace the path following task with an environment exploration task, but the results of Son et al (2011) still apply, since haptic feedback based on obstacle avoidance is environmental information that can improve performance of the task. Other researchers have shown similar findings with small groups of robots and were also able to prove no collisions and stability with control theory (Rodríguez-Seda et al, 2010).…”

Section: Haptics In Human-robot Interactionmentioning

confidence: 99%

Using Haptic Feedback in Human-Swarm Interaction

Nunnally

Walker

Lewis

et al.

Handbook of Research on Design, Control, and Modeling of Swarm Robotics

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A swarm of robots is a large group of individual agents that autonomously coordinate via local control laws. Their emergent behavior allows simple robots to accomplish complex tasks. Since missions may have complex objectives that change dynamically due to environmental and mission changes, human control and influence over the swarm is needed. The field of Human Swarm Interaction (HSI) is young, with few user studies, and even fewer papers focusing on giving non-visual feedback to the operator. The authors will herein present a background of haptics in robotics and swarms and two studies that explore various conditions under which haptic feedback may be useful in HSI. The overall goal of the studies is to explore the effectiveness of haptic feedback in the presence of other visual stimuli about the swarm system. The findings show that giving feedback about nearby obstacles using a haptic device can improve performance, and that a combination of feedback from obstacle forces via the visual and haptic channels provide the best performance.

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Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Cited by 13 publications

References 6 publications

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots

An evaluation of haptic cues on the tele-operator's perceptual awareness of multiple UAVs' environments

Using Haptic Feedback in Human-Swarm Interaction

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