Perception-Action Coupling in Usage of Telepresence Cameras

Valiton, Alexandra; Li, Zhi

doi:10.1109/icra40945.2020.9197578

Cited by 7 publications

(2 citation statements)

References 42 publications

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“…This visibility problem is all the more pertinent in a real-world scenario, where it would be common to have the robot placed at a remote location from the user. Valiton et al [44] have studied this problem in more detail by evaluating camera selection and placement strategies with relation to the time to complete the tasks and the cognitive load. The results are however highly user-dependent, and further studies on the topic are necessary with possible decision support from learned models of camera preference to help the operators.…”

Section: Limitations and Future Workmentioning

confidence: 99%

Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks

Connan¹,

Sierotowicz²,

Henze³

et al. 2021

Biomed. Phys. Eng. Express

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Objective. Bimanual humanoid platforms for home assistance are nowadays available, both as academic prototypes and commercially. Although they are usually thought of as daily helpers for non-disabled users, their ability to move around, together with their dexterity, makes them ideal assistive devices for upper-limb disabled persons, too. Indeed, teleoperating a bimanual robotic platform via muscle activation could revolutionize the way stroke survivors, amputees and patients with spinal injuries solve their daily home chores. Moreover, with respect to direct prosthetic control, teleoperation has the advantage of freeing the user from the burden of the prosthesis itself, overpassing several limitations regarding size, weight, or integration, and thus enables a much higher level of functionality. Approach. In this study, nine participants, two of whom suffer from severe upper-limb disabilities, teleoperated a humanoid assistive platform, performing complex bimanual tasks requiring high precision and bilateral arm/hand coordination, simulating home/office chores. A wearable body posture tracker was used for position control of the robotic torso and arms, while interactive machine learning applied to electromyography of the forearms helped the robot to build an increasingly accurate model of the participant’s intent over time. Main results. All participants, irrespective of their disability, were uniformly able to perform the demanded tasks. Completion times, subjective evaluation scores, as well as energy- and time- efficiency show improvement over time on short and long term. Significance. This is the first time a hybrid setup, involving myoeletric and inertial measurements, is used by disabled people to teleoperate a bimanual humanoid robot. The proposed setup, taking advantage of interactive machine learning, is simple, non-invasive, and offers a new assistive solution for disabled people in their home environment. Additionnally, it has the potential of being used in several other applications in which fine humanoid robot control is required.

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Section: Limitations and Future Workmentioning

confidence: 99%

Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks

Connan¹,

Sierotowicz²,

Henze³

et al. 2021

Biomed. Phys. Eng. Express

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show abstract

“…User-centered work, in contrast, started from the abilities and needs of the operator and built interfaces with them in mind. Showcasing the potential of this approach, we highlight classic and recent examples for human-centered and non-expert teleoperation interface design [e.g., for manipulation ( Herlant et al, 2016 ; Kent et al, 2017 ; Li et al, 2017 ; Rakita et al, 2017 ), shared autonomy ( Jain et al, 2015 ; Aronson et al, 2018 ; Rakita et al, 2019b ; Jeon et al, 2020 ; Nicolis, 2020 ), camera control ( Rakita et al, 2018 ; Rakita et al, 2019a ), and social and psychological interfaces ( Rea et al, 2017a ; Rea and Young, 2018 ; Rea and Young, 2019a ; Rea et al, 2020 ; Seo et al, 2020 ; Valiton and Li, 2020 )], we call for teleoperation and robot researchers broadly to use more additional advanced applications of user-centered practices by starting with user-driven solutions in addition to existing technically-driven approaches.…”

Section: Introductionmentioning

confidence: 99%

Still Not Solved: A Call for Renewed Focus on User-Centered Teleoperation Interfaces

Rea

Seo

2022

Front. Robot. AI

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Teleoperation is one of the oldest applications of human-robot interaction, yet decades later, robots are still difficult to control in a variety of situations, especially when used by non-expert robot operators. That difficulty has relegated teleoperation to mostly expert-level use cases, though everyday jobs and lives could benefit from teleoperated robots by enabling people to get tasks done remotely. Research has made great progress by improving the capabilities of robots, and exploring a variety of interfaces to improve operator performance, but many non-expert applications of teleoperation are limited by the operator’s ability to understand and control the robot effectively. We discuss the state of the art of user-centered research for teleoperation interfaces along with challenges teleoperation researchers face and discuss how an increased focus on human-centered teleoperation research can help push teleoperation into more everyday situations.

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Comparison of Haptic and Augmented Reality Visual Cues for Assisting Tele- manipulation

Lin

Krishnan

2022

2022 International Conference on Robotics and Automation (ICRA)

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Perception-Action Coupling in Usage of Telepresence Cameras

Cited by 7 publications

References 42 publications

Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks

Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasks

Still Not Solved: A Call for Renewed Focus on User-Centered Teleoperation Interfaces

Comparison of Haptic and Augmented Reality Visual Cues for Assisting Tele- manipulation

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