Title :
Measuring an operator´s maneuverability performance in the haptic teleoperation of multiple robots
Author :
Son, Hyoung Il ; Chuang, Lewis L. ; Franchi, Antonio ; Kim, Junsuk ; Lee, Dongjun ; Lee, Seong-Whan ; Bülthoff, Heinrich H. ; Giordano, Paolo Robuffo
Author_Institution :
Max Planck Inst. for Biol. Cybern., Tubingen, Germany
Abstract :
In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator´s interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator´s frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.
Keywords :
collision avoidance; haptic interfaces; human-robot interaction; multi-robot systems; telerobotics; haptic cue algorithm; haptic feedback algorithm; haptic teleoperation; multi-robot system; obstacle avoidance force; operator maneuverability performance; robot teleoperation; teleoperation maneuverability; Collision avoidance; Force; Frequency response; Haptic interfaces; Humans; Measurement; Robots;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094618