The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.01 - First Quarter (2013 vol.6)
pp: 2-12
H. Boessenkool , Assoc. EURATOM-FOM, FOM Inst. DIFFER, Nieuwegein, Netherlands
D. A. Abbink , Dept. of Biomech. Eng., Delft Univ. of Technol., Delft, Netherlands
C. J. M. Heemskerk , Heemskerk Innovative Technol. B.V., Noordwijk, Netherlands
F. C. T. van der Helm , Dept. of Biomech. Eng., Delft Univ. of Technol., Delft, Netherlands
J. G. W. Wildenbeest , Dept. of Biomech. Eng., Delft Univ. of Technol., Delft, Netherlands
ABSTRACT
Telemanipulation allows human to perform operations in a remote environment, but performance and required time of tasks is negatively influenced when (haptic) feedback is limited. Improvement of transparency (reflected forces) is an important focus in literature, but despite significant progress, it is still imperfect, with many unresolved issues. An alternative approach to improve teleoperated tasks is presented in this study: Offering haptic shared control in which the operator is assisted by guiding forces applied at the master device. It is hypothesized that continuous intuitive interaction between operator and support system will improve required time and accuracy with less control effort, even for imperfect transparency. An experimental study was performed in a hard-contact task environment. The subjects were aided by the designed shared control to perform a simple bolt-spanner task using a planar three degree of freedom (DOF) teleoperator. Haptic shared control was compared to normal operation for three levels of transparency. The experimental results showed that haptic shared control improves task performance, control effort and operator cognitive workload for the overall bolt-spanner task, for all three transparency levels. Analyses per subtask showed that free air movement (FAM) benefits most from shared control in terms of time performance, and also shows improved accuracy.
INDEX TERMS
Haptic interfaces, Force, Fasteners, Humans, Visualization, Accuracy,human factors experiment, Teleoperation, haptic guidance, haptic shared control, transparency, task performance
CITATION
H. Boessenkool, D. A. Abbink, C. J. M. Heemskerk, F. C. T. van der Helm, J. G. W. Wildenbeest, "A Task-Specific Analysis of the Benefit of Haptic Shared Control During Telemanipulation", IEEE Transactions on Haptics, vol.6, no. 1, pp. 2-12, First Quarter 2013, doi:10.1109/TOH.2012.22
REFERENCES
[1] P. Fischer, R. Daniel, and K. Siva, "Specification and Design of Input Devices for Teleoperation," Proc. IEEE Int'l Conf. Robotics and Automation (ICRA), pp. 540-545, 1990.
[2] A.C. Rolfe, "A Perspective on Fusion Relevant Remote Handling Techniques," Fusion Eng. and Design, vol. 82, nos. 15-24, pp. 1917-1923, 2007.
[3] T.B. Sheridan, Humans and Automation: System Design and Research Issues. Wiley-Blackwell, 2002.
[4] G. Christiansson, "Hard Master Soft Slave Haptic Teleoperation," PhD dissertation, Delft Univ. of Tech nology, 2007.
[5] P. Hokayem and M. Spong, "Bilateral Teleoperation: An Historical Survey," Automatica, vol. 42, no. 12, pp. 2035-2057, 2006.
[6] T.B. Sheridan, "Telerobotics," Automatica, vol. 25, no. 4, pp. 487-507, 1989.
[7] Y. Yokokohji and T. Yoshikawa, "Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling-Formulation and Experiment," IEEE Trans. Robotics and Automation, vol. 10, no. 5, pp. 605-620, Oct. 1994.
[8] D.A. Lawrence, "Stability and Transparency in Bilateral Teleoperation," IEEE Trans. Robotics and Automation, vol. 9, no. 5, pp. 624-637, Oct. 1993.
[9] J. Draper, W. Moore, J. Herndon, and B.S. Weil, "Effects of Force Reflection on Servomanipulator Task Performance," Proc. Int'l Topical Meeting Remote Systems and Robotics in Hostile Environments, pp. 654-660, 1986.
[10] B. Hannaford, L. Wood, D.A. McAffee, and H. Zak, "Performance Evaluation of a Six-Axis Generalized Force-Reflecting Teleoperator," IEEE Trans. Systems, Man, and Cybernetics, vol. 21, no. 3, pp. 620-633, May/June 1991.
[11] H.S. Vitense, J.A. Jacko, and V.K. Emery, "Multimodal Feedback: An Assessment of Performance and Mental Workload," Ergonomics, vol. 46, nos. 1-3, pp. 68-87, 2003.
[12] R.W. Daniel and R.R. McAree, "Fundamental Limits of Performance for Force Reflecting Teleoperation," Int'l J. Robotics Research, vol. 17, no. 8, pp. 811-830, 1998.
[13] I. Aliaga, A. Rubio, and E. Sinchez, "Experimental Quantitative Comparison of Different Control Architectures for Master-Slave Teleoperation," IEEE Trans. Control Systems Technology, vol. 12, no. 1, pp. 2-11, Jan. 2004.
[14] L.B. Rosenberg, "Virtual Fixtures: Perceptual Tools for Telerobotic Manipulation," Proc. Virtual Reality Ann. Int'l Symp., 1993.
[15] P. Marayong, A. Bettini, and A. Okamura, "Effect of Virtual Fixture Compliance on Human-Machine Cooperative Manipulation," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS), 2002.
[16] A. Bettini, P. Marayong, S. Lang, A.M. Okamura, and G.D. Hager, "Vision-Assisted Control for Manipulation Using Virtual Fixtures," IEEE Trans. Robotics and Automation, vol. 20, no. 6, pp. 953-966, Dec. 2004.
[17] C. Passenberg, R. Groten, A. Peer, and M. Buss, "Towards Real-Time Haptic Assistance Adaptation Optimizing Task Performance and Human Effort," Proc. World Haptics Conf., pp. 155-160, 2011.
[18] S. Park, R.D. Howe, and D.F. Torchiana, "Virtual Fixtures for Robotic Cardiac Surgery," Proc. Int'l Conf. Medical Image Computing and Computer-Assisted Intervention, pp. 1419-1420, 2001.
[19] J.J. Abbott and A.M. Okamura, "Virtual Fixture Architectures for Telemanipulation," Proc. IEEE Int'l Conf. Robotics and Automation (ICRA), pp. 2798-2805, 2003.
[20] D.A. Abbink, E.R. Boer, and M. Mulder, "Motivation for Continuous Haptic Gas Pedal Feedback to Support Car Following," Proc. IEEE Intelligent Vehicles Symp., pp. 283-290, 2008.
[21] P.G. Griffiths and R.B. Gillespie, "Sharing Control between Humans and Automation Using Haptic Interface: Primary and Secondary Task Performance Benefits," Human Factors, vol. 47, no. 3, pp. 574-590, Jan. 2005.
[22] M. Mulder, D.A. Abbink, and E.R. Boer, "The Effect of Haptic Guidance on Curve Negotiation Behavior of Young, Experienced Drivers," Proc. IEEE Int'l Conf. System, Man, and Cybernetics, pp. 804-809, 2008.
[23] M.K. OMalley, A. Gupta, M. Gen, and Y. Li, "Shared Control in Haptic Systems for Performance Enhancement and Training," J. Dynamic Systems, Measurement, and Control, vol. 128, no. 1, pp. 75-85, 2006.
[24] Y. Li, V. Patoglu, and M. O'Malley, "Negative Efficacy of Fixed Gain Error Reducing Shared Control for Training in Virtual Environments," ACM Trans. Applied Perception, vol. 6, no. 1,article 3, 2009.
[25] K.H. Goodrich, P.C. Schutte, F.O. Flemisch, and R.A. Williams, "Application of the H-Mode, a Design and Interaction Concept for Highly Automated Vehicles, to Aircraft," Proc. AIAA/IEEE Digital Avionics Systems Conf., 2006.
[26] D. Abbink, M. Mulder, and E. Boer, "Haptic Shared Control: Smoothly Shifting Control Authority?" Cognition, Technology & Work, vol. 14, pp. 19-28, 2011.
[27] H. Boessenkool, D.A. Abbink, C.J.M. Heemskerk, and F.C.T. van der Helm, "Haptic Shared Control Improves Tele-Operated Task Performance Towards Performance in Direct Control," Proc. World Haptics Conf., pp. 433-438, 2011.
[28] J. Chen, E. Haas, and M. Barnes, "Human Performance Issues and User Interface Design for Teleoperated Robots," IEEE Trans. Systems, Man, and Cybernetics, Part C: Applications and Rev., vol. 37, no. 6, pp. 1231-1245, 2007.
[29] J. Wildenbeest, "Improving the Quality of Haptic Feedback Yields Only Marginal Improvements in Teleoperated Task Performance," Master's thesis, Delft Univ. of Tech nology, 2010.
[30] G. Christiansson, "The Low-Stiffness Teleoperator Slave---a Trade-Off between Performance and Stability," Int'l J. Robotics Research, vol. 26, no. 3, pp. 287-301, 2007.
[31] B. Hannaford, "A Design Framework for Teleoperators with Kinesthetic Feedback," IEEE Trans. Robotics and Automation, vol. 5, no. 4, pp. 426-434, Aug. 1989.
[32] S. Hart and L. Staveland, "Development of Nasa-Tlx (Task Load Index): Results of Empirical and Theoretical Research," Proc. Human Mental Workload, pp. 139-183, 1988.
[33] B. Xie and G. Salvendy, "Prediction of Mental Workload in Single and Multiple Tasks Environments," Int'l J. Cognitive Ergonomics, vol. 4, pp. 213-242, 2000.
[34] J. de Winter and D. Dodou, "Preparing Drivers for Dangerous Situations: A Critical Reflection on Continuous Shared Control," Proc. IEEE Int'l Conf. Systems, Man, and Cybernetics, pp. 1050-1056, Oct. 2011.
[35] D. Abbink and M. Mulder, "Exploring the Dimensions of Haptic Feedback Support in Manual Control," J. Computing and Information Science in Eng., vol. 9, no. 1, p. 011006, 2009.
[36] T. Flash and N. Hogan, "The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model," J. Neuroscience, vol. 5, no. 7, pp. 1688-1703, 1985.
[37] D. Abbink, M. Mulder, F. van der Helm, M. Mulder, and E. Boer, "Measuring Neuromuscular Control Dynamics During Car following with Continuous Haptic Feedback," IEEE Trans. Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 41, no. 5, pp. 1239-1249, Oct. 2011.
36 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool