The Design and Evaluation of Visual and Tactile Warnings in Support of Space Teleoperation

Abstract

Space teleoperation is a very challenging task, in part due to the difficulty with maintaining awareness of the robotic arm’s configuration. Operators sometimes fail to notice undesirable arm configurations, such as joint limits or singularities, due to poor graphic user interface (GUI) designs and visual data overload. These failures can lead to hazards and unsafe conditions. The present study served to develop and comparatively evaluate the effectiveness of two approaches to supporting astronauts in monitoring the arm: 1) visual highlighting and information integration, and 2) tactile warnings. Performance measures and eye tracking data were collected and show that visual highlighting/integration and tactile warnings resulted in faster response times to, and successful avoidance of problematic arm configurations. The findings also highlight that additional support is needed for later stages of information processing, such as response selection. The findings from this research not only benefit space teleoperation but can inform the design of interfaces in other data-rich domains.

Stages and Levels of Automation in Support of Space Teleoperations

“…While operating the arm (Step 4), the operator had to perform five subtasks: (a) recall and execute the plan for multiaxis hand controller inputs; (b) monitor the camera and window views to make sure the arm moves as expected, gain a sense of the arm's status (location, orientation, movement), and monitor the clearance between the arm and structure (the flight rule is "no maneuver within 0.6 m of any structure"); (c) monitor the arm control GUI on the left-hand monitor to assess joint angles and the distance to joint limits and singularities; (d) change camera views if needed (e.g., reassignment of a different one of the four possible cameras to the two upper monitors); and (e) recall the alignment of the EE with fixed lines on the walls at the final target location and adjust the arm to reach the target. Subtasks b and c were supported by hazard avoidance alerts, which provide visual highlighting of the corresponding arm segment when there was a potential collision or a problematic arm configuration (see details in Li, Sarter, Sebok, & Wickens, 2012).…”

Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

“…P. Barros et al [ 23 ] performed a set of tests using the simulation model of the teleoperated robot and enhancing the users with tactile feedback that could notify them about the actual collisions of the robot with the surroundings. Vibration devices can also be used during the control of an industrial robot, notifying the user about, for instance, approaching singularities and joint limits [ 24 , 25 ] or commencing the next phase of the manufacturing process [ 5 ].…”

Mental workload characteristics of manipulator teleoperators with different spatial cognitive abilities

“…A typical teleoperation system is commonly composed of four parts: operator, master robot, communication channel, slave robot, and the task environment. [1][2][3] The display, also called communication channel, extends the operator's ability to remotely manipulate by providing the same scene of real-time information to the operator's remote object on the display, 1 and such hand-eye alignment has been shown to increase mental workload, task time, and errors [4][5][6] and bring challenges to geometric reasoning and spatial cognitive ability of operators. 7 Teleoperation robot can play an important role in earthquake relief, space exploration, and energy development, which are inaccessible to human beings.…”

“…More and more of human-computer interfaces reasonably from the level of human-computer interaction in teleoperation system are designed. 2 In special environment, human operation is more reliable than robot's complete autonomous action, but the robot must have some local autonomous functions to cooperate with human operation; to ensure that the robot moves safer in dangerous and complex environment, there is a growing need to develop effective user interfaces that minimize operator error and improve task efficiency. The application of teleoperation robot technology in the field of medical diagnosis includes minimally invasive positioning operation, noninvasive diagnosis and treatment, and so on.…”