The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks.
Identifieur interne : 003C20 ( Ncbi/Merge ); précédent : 003C19; suivant : 003C21The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks.
Auteurs : Arnold De Jonge ; Jeroen Wildenbeest ; Henri Boessenkool ; David AbbinkSource :
- IEEE transactions on haptics [ 2329-4051 ] ; 2015.
Abstract
Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or even deteriorated performance. This study investigates ways to reduce conflicts between individual human operators and a haptic shared controller by modifying supported trajectories. Subjects (n=12) performed a repetitive movement task in an abstract environment with varying spatio-temporal constraints, both during manual control and while supported by haptic shared control. Four types of haptic shared control were compared, combining two design properties: the initial supported trajectory (either the centerline of the environment or an individualized trajectory based on manual control trials), and trial-by-trial adaptation of guidance towards previously performed trajectories (either present or absent). Trial-by-trial adaptation of guidance reduced conflicts compared to non-adaptive guidance, whether the initial trajectory was individualized or not. Without trial-by-trial adaptation, individualized trajectories also reduced conflicts, but not completely: when guided, operators adapt their preferred trajectories. In conclusion, trial-by-trial adaptation is the most promising approach to mitigate conflicts during repetitive motion tasks.
DOI: 10.1109/TOH.2015.2477302
PubMed: 26357407
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However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or even deteriorated performance. This study investigates ways to reduce conflicts between individual human operators and a haptic shared controller by modifying supported trajectories. Subjects (n=12) performed a repetitive movement task in an abstract environment with varying spatio-temporal constraints, both during manual control and while supported by haptic shared control. Four types of haptic shared control were compared, combining two design properties: the initial supported trajectory (either the centerline of the environment or an individualized trajectory based on manual control trials), and trial-by-trial adaptation of guidance towards previously performed trajectories (either present or absent). Trial-by-trial adaptation of guidance reduced conflicts compared to non-adaptive guidance, whether the initial trajectory was individualized or not. Without trial-by-trial adaptation, individualized trajectories also reduced conflicts, but not completely: when guided, operators adapt their preferred trajectories. In conclusion, trial-by-trial adaptation is the most promising approach to mitigate conflicts during repetitive motion tasks.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">26357407</PMID><DateCreated><Year>2015</Year><Month>9</Month><Day>10</Day></DateCreated><DateRevised><Year>2015</Year><Month>9</Month><Day>12</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN><JournalIssue CitedMedium="Internet"><PubDate><Year>2015</Year><Month>Sep</Month><Day>9</Day></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks.</ArticleTitle><Pagination><MedlinePgn></MedlinePgn></Pagination><Abstract><AbstractText NlmCategory="UNASSIGNED">Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or even deteriorated performance. This study investigates ways to reduce conflicts between individual human operators and a haptic shared controller by modifying supported trajectories. Subjects (n=12) performed a repetitive movement task in an abstract environment with varying spatio-temporal constraints, both during manual control and while supported by haptic shared control. Four types of haptic shared control were compared, combining two design properties: the initial supported trajectory (either the centerline of the environment or an individualized trajectory based on manual control trials), and trial-by-trial adaptation of guidance towards previously performed trajectories (either present or absent). Trial-by-trial adaptation of guidance reduced conflicts compared to non-adaptive guidance, whether the initial trajectory was individualized or not. Without trial-by-trial adaptation, individualized trajectories also reduced conflicts, but not completely: when guided, operators adapt their preferred trajectories. In conclusion, trial-by-trial adaptation is the most promising approach to mitigate conflicts during repetitive motion tasks.</AbstractText></Abstract><AuthorList><Author><LastName>de Jonge</LastName><ForeName>Arnold</ForeName><Initials>A</Initials></Author><Author><LastName>Wildenbeest</LastName><ForeName>Jeroen</ForeName><Initials>J</Initials></Author><Author><LastName>Boessenkool</LastName><ForeName>Henri</ForeName><Initials>H</Initials></Author><Author><LastName>Abbink</LastName><ForeName>David</ForeName><Initials>D</Initials></Author></AuthorList><Language>ENG</Language><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>9</Month><Day>09</Day></ArticleDate></Article><MedlineJournalInfo><MedlineTA>IEEE Trans Haptics</MedlineTA><NlmUniqueID>101491191</NlmUniqueID><ISSNLinking>1939-1412</ISSNLinking></MedlineJournalInfo></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>9</Month><Day>11</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>9</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>9</Month><Day>12</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>aheadofprint</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/TOH.2015.2477302</ArticleId><ArticleId IdType="pubmed">26357407</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list></list><tree><noCountry><name sortKey="Abbink, David" sort="Abbink, David" uniqKey="Abbink D" first="David" last="Abbink">David Abbink</name><name sortKey="Boessenkool, Henri" sort="Boessenkool, Henri" uniqKey="Boessenkool H" first="Henri" last="Boessenkool">Henri Boessenkool</name><name sortKey="De Jonge, Arnold" sort="De Jonge, Arnold" uniqKey="De Jonge A" first="Arnold" last="De Jonge">Arnold De Jonge</name><name sortKey="Wildenbeest, Jeroen" sort="Wildenbeest, Jeroen" uniqKey="Wildenbeest J" first="Jeroen" last="Wildenbeest">Jeroen Wildenbeest</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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