On the Use of Haptic Tablets for UGV Teleoperation in Unstructured Environments: System Design and Evaluation

Abstract

Teleoperation of unmanned ground vehicles (UGVs), particularly for inspection of unstructured and unfamiliar environments still raises important challenges from the point of view of the operator interface. One of these challenges is caused by the fact that all information available to the operator is presented to the operator through a computer interface, providing only a partial view of the robot situation. The majority of existing interfaces provides information using visual, and, less frequently, sound channels. The lack of situation awareness (SA), caused by this partial view, may lead to an incorrect and inefficient response to the current UGV state, usually confusing and frustrating the human operator. For instance, the UGV may become stuck in debris while the operator struggles to move the robot, not understanding the cause of the UGV lack of motion. We address this problem by studying the use of haptic feedback to improve operator SA. More precisely, improving SA with respect to the traction state of the UGV, using a haptic tablet for both commanding the robot and conveying traction state to the user by haptic feedback. We report 1) a teleoperating interface, integrating a haptic tablet with an existing UGV teleoperation interface and 2) the experimental results of a user study designed to evaluate the advantage of this interface in the teleoperation of a UGV, in a search and rescue scenario. Statistically significant results were found supporting the hypothesis that using the haptic tablet elicits a reduction in the time that the UGV spends in states without traction.

Remote operation of Connected and Automated Vehicles

“…Moreover, Luz et al (2019) stressed the difficulty of controlling a remote entity, especially when new and unfamiliar settings are considered. They proposed the use of haptic tables, which consist of glass surfaces capable of providing tactile feedback to the users' fingertip through vibration with low amplitude and ultrasonic frequency, as a way to assist the operator in navigating the environment (Koslover et al 2011).…”

“…Furthermore, it was stressed that the characteristics of the HMD should be considered carefully, as they could impact head movement behaviour. Specifically, if HMDs are not designed ergonomically, and bearing in mind users' individual differences and anthropometric characteristics, their effectiveness could be impaired, as users could be less keen on adopting them and could develop musculoskeletal disorders (Luz et al 2019). PPR1011 Hoffman et al (2008) discuss the use of 3D displays to facilitate the embodiment of the Remote Operators, with the environment recreated on screens in 3D rather than 2D.…”

Socially adaptive cognitive architecture for human-robot collaboration in industrial settings

“…To complement gesture-based interactions and cater to scenarios necessitating more detailed information exchange, the architecture also integrates tablet-based communication. This method leverages interactive applications, which, while commonly used for teleoperation Yepes et al (2013) , Best and Moghadam (2014) , Luz et al (2019) , are repurposed in the DAC-HRC to enhance the human-robot bond and situational awareness Goodrich and Olsen (2003) . The tablet application provides a direct interface for the human worker to receive updates on the robot’s internal state and environmental interpretations, aligning with key HRI principles Goodrich and Olsen (2003) , Adams (2005) .…”

Modeling and Experimental Evaluation of Haptic Localization Using Electrostatic Vibration Actuators

“…Large TSDs can also be used in assistive technologies for people with impaired vision and hearing disorders [7]. Presently, large TSDs are being utilized in a multitude of applications, such as information kiosks (at places like restaurants, shopping malls, and airports [8]), and robotic teleoperation interfaces [9].…”