Position control for slow dynamic systems: Haptic feedback makes system constraints tangible

Wildenbeest, J.G.W.; Kuiper, Roel J.; Helm, F.C.T. van der; Abbink, David A.

doi:10.1109/smc.2014.6974555

Cited by 8 publications

(7 citation statements)

References 18 publications

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“…Possibly a higher quality transparency helps operators to control the dynamics of therelatively heavy-tool, as was for example found in [32].…”

Section: Effects Of Haptic Guidance and Transparencymentioning

confidence: 96%

“…[13], [14], [25]) or can be explained by research (like e.g. benefits of a low or high transparency [3], [32]). As such, the main effects of our experiment-inaccuracies mainly affect Constrained Translational Movement and a higher transparency does not help operators to detect and cope with inaccuracies-are expected to be the same in hardware setups that have a similar experimental design.…”

Section: Limitations and Future Workmentioning

confidence: 99%

See 1 more Smart Citation

Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution

Oosterhout

Wildenbeest

Boessenkool

et al. 2015

IEEE Trans. Haptics

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Haptic shared control is a promising approach to improve tele-manipulated task execution, by making safe and effective control actions tangible through guidance forces. In current research, these guidance forces are most often generated based on pre-generated, errorless models of the remote environment. Hence such guidance forces are exempt from the inaccuracies that can be expected in practical implementations. The goal of this research is to quantify the extent to which task execution is degraded by inaccuracies in the model on which haptic guidance forces are based. In a human-in-the-loop experiment, subjects (n = 14) performed a realistic tele-manipulated assembly task in a virtual environment. Operators were provided with various levels of haptic guidance, namely no haptic guidance (conventional tele-manipulation), haptic guidance without inaccuracies, and haptic guidance with translational inaccuracies (one large inaccuracy, in the order of magnitude of the task, and a second smaller inaccuracy). The quality of natural haptic feedback (i.e., haptic transparency) was varied between high and low to identify the operator's ability to detect and cope with inaccuracies in haptic guidance. The results indicate that haptic guidance is beneficial for task execution when no inaccuracies are present in the guidance. When inaccuracies are present, this may degrade task execution, depending on the magnitude and the direction of the inaccuracy. The effect of inaccuracies on overall task performance is dominated by effects found for the Constrained Translational Movement, due to its potential for jamming. No evidence was found that a higher quality of haptic transparency helps operators to detect and cope with inaccuracies in the haptic guidance.

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“…Possibly a higher quality transparency helps operators to control the dynamics of therelatively heavy-tool, as was for example found in [32].…”

Section: Effects Of Haptic Guidance and Transparencymentioning

confidence: 96%

Section: Limitations and Future Workmentioning

confidence: 99%

Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution

Oosterhout

Wildenbeest

Boessenkool

et al. 2015

IEEE Trans. Haptics

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show abstract

“…This is in contrast to what Stigter et al reported in [8], where improvements for haptics over visual support for a flight director for more accurate path following reduced the control effort. Wildenbeest, Kuiper, van der Helm, and Abbink [34] also reported that haptic feedback makes the system dynamics more tangible. For the conducted experiment, the visual operator load was low, therefore enabling the subjects to process the visual cues equally to the haptic cues.…”

Section: B Impact Of Two Modalities On Task Executionmentioning

confidence: 97%

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Kuiper

Heck

Kuling

et al. 2016

IEEE Trans. Human-Mach. Syst.

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Abstract-Remote control of vehicles is a difficult task for operators. Support systems that present additional task information may assist operators, but their usefulness is expected to depend on several factors such as 1) the nature of conveyed information, 2) what modality it is conveyed through, and 3) the task difficulty. In an exploratory experiment, these three factors were manipulated to quantify their effects on operator behavior. Subjects (n = 15) used a haptic manipulator to steer a virtual nonholonomic vehicle through abstract environments, in which obstacles needed to be avoided. Both a simple support conveying near-future predictions of the trajectory of the vehicle and a more elaborate support that continuously suggests the path to be taken were designed (factor 1). These types of information were offered either with visual or haptic cues (factor 2). These four support systems were tested in four different abstracted environments with decreasing amount of allowed variability in realized trajectories (factor 3). The results show improvements for the simple support only when this information was presented visually, but not when offered haptically. For the elaborate support, equally large improvements for both modalities were found. This suggests that the elaborate support is better: additional information is key in improving performance in nonholonomic steering tasks.

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“…A system with poor transparency may adversely affect the operator's perception of the properties of the environment, limiting the performance on the task [5]. Designing high-transparency teleoperation systems is, therefore, of primary importance [6].…”

Section: Introductionmentioning

confidence: 99%

Framework for Human Haptic Perception With Delayed Force Feedback

Paassen

Abbink

2019

IEEE Trans. Human-Mach. Syst.

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Time delays in haptic teleoperation affect the ability of human operators to assess mechanical properties (damping, mass, and stiffness) of the remote environment. To address this, we propose a unified framework for human haptic perception of the mechanical properties of environments with delayed force feedback. In a first experiment, we found that the delay in the force feedback led our subjects to underestimate all the three mechanical properties. Moreover, subjects perceived additional damping or stiffness properties that the environment did not possess. It was found that the extents of these changes in the perception depend on both time-delay magnitude and the frequency of the movement with which subjects interacted with the environment. This was due to the fact that subjects were not able to distinguish the delaycaused phase shift in the movement-force relation from changes in the three mechanical properties. Based on this, we proposed a framework that allowed for a prediction of the change associated with delayed force in perception of mass-spring-damper environments. The framework was corroborated by a second experiment, in which a combined mass-damper environment was tested. Our hypotheses that the delay would cause subjects to underestimate the mass but overestimate the damping and that the extents of the under-and overestimation would differ between individual subjects due to the difference in the interaction frequency were confirmed.

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Position control for slow dynamic systems: Haptic feedback makes system constraints tangible

Cited by 8 publications

References 18 publications

Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution

Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution

Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks

Framework for Human Haptic Perception With Delayed Force Feedback

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