Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.
Identifieur interne : 001B33 ( Main/Merge ); précédent : 001B32; suivant : 001B34Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.
Auteurs : Hyoung Il Son ; Antonio Franchi ; Lewis L. Chuang ; Junsuk Kim ; Heinrich H. Bulthoff ; Paolo Robuffo GiordanoSource :
- IEEE transactions on cybernetics [ 2168-2275 ] ; 2013.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Robotics.
- methods : Cybernetics, Robotics.
- physiology : Touch.
- Adult, Equipment Design, Female, Humans, Male, Psychophysics, Telecommunications, Young Adult.
Abstract
In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.
Url:
DOI: 10.1109/TSMCB.2012.2212884
PubMed: 22961308
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Two aspects of human perfor- mance are deemed important in this area, namely the maneuver- ability of mobile robots and perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocity of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in teleoperator's performance.</div></front></TEI></HAL><PubMed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.</title><author><name sortKey="Son, Hyoung Il" sort="Son, Hyoung Il" uniqKey="Son H" first="Hyoung Il" last="Son">Hyoung Il Son</name></author><author><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name></author><author><name sortKey="Chuang, Lewis L" sort="Chuang, Lewis L" uniqKey="Chuang L" first="Lewis L" last="Chuang">Lewis L. Chuang</name></author><author><name sortKey="Kim, Junsuk" sort="Kim, Junsuk" uniqKey="Kim J" first="Junsuk" last="Kim">Junsuk Kim</name></author><author><name sortKey="Bulthoff, Heinrich H" sort="Bulthoff, Heinrich H" uniqKey="Bulthoff H" first="Heinrich H" last="Bulthoff">Heinrich H. Bulthoff</name></author><author><name sortKey="Giordano, Paolo Robuffo" sort="Giordano, Paolo Robuffo" uniqKey="Giordano P" first="Paolo Robuffo" last="Giordano">Paolo Robuffo Giordano</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2013">2013</date><idno type="doi">10.1109/TSMCB.2012.2212884</idno><idno type="RBID">pubmed:22961308</idno><idno type="pmid">22961308</idno><idno type="wicri:Area/PubMed/Corpus">000B37</idno><idno type="wicri:Area/PubMed/Curation">000B37</idno><idno type="wicri:Area/PubMed/Checkpoint">000885</idno><idno type="wicri:Area/Ncbi/Merge">002226</idno><idno type="wicri:Area/Ncbi/Curation">002226</idno><idno type="wicri:Area/Ncbi/Checkpoint">002226</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.</title><author><name sortKey="Son, Hyoung Il" sort="Son, Hyoung Il" uniqKey="Son H" first="Hyoung Il" last="Son">Hyoung Il Son</name></author><author><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name></author><author><name sortKey="Chuang, Lewis L" sort="Chuang, Lewis L" uniqKey="Chuang L" first="Lewis L" last="Chuang">Lewis L. Chuang</name></author><author><name sortKey="Kim, Junsuk" sort="Kim, Junsuk" uniqKey="Kim J" first="Junsuk" last="Kim">Junsuk Kim</name></author><author><name sortKey="Bulthoff, Heinrich H" sort="Bulthoff, Heinrich H" uniqKey="Bulthoff H" first="Heinrich H" last="Bulthoff">Heinrich H. Bulthoff</name></author><author><name sortKey="Giordano, Paolo Robuffo" sort="Giordano, Paolo Robuffo" uniqKey="Giordano P" first="Paolo Robuffo" last="Giordano">Paolo Robuffo Giordano</name></author></analytic><series><title level="j">IEEE transactions on cybernetics</title><idno type="eISSN">2168-2275</idno><imprint><date when="2013" type="published">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Cybernetics (methods)</term><term>Equipment Design</term><term>Female</term><term>Humans</term><term>Male</term><term>Psychophysics</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Telecommunications</term><term>Touch (physiology)</term><term>Young Adult</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Cybernetics</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Touch</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Equipment Design</term><term>Female</term><term>Humans</term><term>Male</term><term>Psychophysics</term><term>Telecommunications</term><term>Young Adult</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.</div></front></TEI></PubMed></double></record>Pour manipuler ce document sous Unix (Dilib)
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