Neuromuscular Analysis as a Guideline in designing Shared Control

Abbink, David A.; Mulder, M.

doi:10.5772/8696

Cited by 50 publications

(7 citation statements)

References 36 publications

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“…Next, these systems also comply with traffic rules even if this is not motivated by safety perspectives. Developing systems with better look-ahead or allowing for shared control between the system and the driver may support the willingness to continue the use of the autopilot [1].…”

Section: Resultsmentioning

confidence: 99%

“…With respect to opportunities for design, a solution to overcome the gap between the behavior of intelligent systems in vehicles and drivers is the use of shared control. The control authority of the vehicle is, in this case, shared between the intelligent systems and the driver [1], allowing the driver, for example, to influence the acceleration of the vehicle. Another example of shared control is the use of haptic torque feedback on the steering wheel that can convey intent [16].…”

Section: The Behavior Of the Autopilot In Relation To Overtaking Othementioning

confidence: 99%

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Why Disable the Autopilot?

Huysduynen

Terken

Eggen

2018

Proceedings of the 10th International Conference on Automotive User Interfaces and Interactive Vehicular Applications

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DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement:

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Section: Resultsmentioning

confidence: 99%

Section: The Behavior Of the Autopilot In Relation To Overtaking Othementioning

confidence: 99%

Why Disable the Autopilot?

Huysduynen

Terken

Eggen

2018

Proceedings of the 10th International Conference on Automotive User Interfaces and Interactive Vehicular Applications

View full text Add to dashboard Cite

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“…• Authority sharing: it aims at defining how the commands from a human operator and an automatic system are merged to control the system: constraining the robot movement thanks to virtual fixtures [9]; letting the automatic system controlling the fine motions [10], [11] or the robot's degree of freedom while the human controls the end effector position [12]; giving the authority to the human according to his involvement in the task (Hmode designed from horse riding [13]).…”

Section: Control Sharingmentioning

confidence: 99%

A Multi-layer Approach for Interactive Path Planning Control in Virtual Reality Simulation

Cailhol

Fillatreau

Fourquet

et al. 2014

2014 International Conference on Virtual Reality and Visualization

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This work considers path-planning processes for manipulation tasks such as assembly, maintenance or disassembly in a Virtual Reality (VR) context. The approach consists in providing a collaborative system associating a user immersed in VR and an automatic path planning process. It is based on an novel environment model containing semantic, topological and geometric information and an original planning process split in two phases: coarse and fine planning. The automatic planner suggests a path to the user and guides him trough a haptic device. The user can escape from the proposed solution if he wants to explore a possible better way. In this case, the interactive system detects the users intention and computes in real-time a new path taking the users intent into account. Experiments illustrate the different aspects of the proposed approach: multi-representation of the environment, path planning process, users intent prediction and control sharing.

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“…Shared control has been particularly exploited in robotics surgery especially within teleoperation schemes, where it appears in various forms. According to Abbink and Mulder (2010), teleoperated shared control can be generally divided in two main categories: input-mixing shared control and haptic shared control . Input-mixing strategies combine the input of the human and the autonomous system at the level of the telemanipulators’ controller, either in a complementary way or overlapping way.…”

Section: Introductionmentioning

confidence: 99%

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Sanchez

Amanhoud

Billard

et al. 2023

The International Journal of Robotics Research

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Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the task of the hands. Such a system opens the door for simultaneous control of four laparoscopic tools by the same user. Each hand controls a manipulative tool while a foot controls an endoscope/camera and another controls an actuated gripper. In this scenario, the surgeon and robots need to work collaboratively within a concurrent workspace, while meeting the precision demands of surgery. To this end, we propose a control framework for the robotic arms that deals with all the task- and safety-related constraints. Furthermore, to ease the control through the feet, two assistance modalities are proposed: adaptive visual tracking of the laparoscopic instruments with the camera and grasping assistance for the gripper. A user study is conducted on twelve subjects to highlight the ease of use of the system and to evaluate the relevance of the proposed shared control strategies. The results confirm the feasibility of four-arm surgical-like tasks without extensive training in tasks that involve visual-tracking and manipulation goals for the feet, as well as coordination with both hands. Moreover, our study characterizes and motivates the use of robotic assistance for reducing task load, improving performance, increasing fluency, and eliciting higher coordination during four-arm laparoscopic tasks.

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Neuromuscular Analysis as a Guideline in designing Shared Control

Cited by 50 publications

References 36 publications

Why Disable the Autopilot?

Why Disable the Autopilot?

A Multi-layer Approach for Interactive Path Planning Control in Virtual Reality Simulation

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

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