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Issue No.03 - Third Quarter (2012 vol.5)
pp: 208-219
Dane Powell , Rice University, Houston
Marcia K. O'Malley , Rice University, Houston
Shared-control haptic guidance is a common form of robot-mediated training used to teach novice subjects to perform dynamic tasks. Shared-control guidance is distinct from more traditional guidance controllers, such as virtual fixtures, in that it provides novices with real-time visual and haptic feedback from a real or virtual expert. Previous studies have shown varying levels of training efficacy using shared-control guidance paradigms; it is hypothesized that these mixed results are due to interactions between specific guidance implementations (“paradigms”) and tasks. This work proposes a novel guidance paradigm taxonomy intended to help classify and compare the multitude of implementations in the literature, as well as a revised proxy rendering model to allow for the implementation of more complex guidance paradigms. The efficacies of four common paradigms are compared in a controlled study with 50 healthy subjects and two dynamic tasks. The results show that guidance paradigms must be matched to a task's dynamic characteristics to elicit effective training and low workload. Based on these results, we provide suggestions for the future development of improved haptic guidance paradigms.
robot-mediated training., Shared control, haptic rendering, haptic guidance
Dane Powell, Marcia K. O'Malley, "The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms", IEEE Transactions on Haptics, vol.5, no. 3, pp. 208-219, Third Quarter 2012, doi:10.1109/TOH.2012.40
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