Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution.
Identifieur interne : 00B165 ( Main/Merge ); précédent : 00B164; suivant : 00B166Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution.
Auteurs : Jeroen Van Oosterhout ; Jeroen G W. Wildenbeest ; Henri Boessenkool ; Cock J M. Heemskerk ; Marco R. De Baar ; Frans C T. Van Der Helm ; David A. AbbinkSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
Abstract
Haptic shared control is a promising approach to improve tele-manipulated task execution, by making safe and effective control actions tangible through guidance forces. In current research, these guidance forces are most often generated based on pre-generated, errorless models of the remote environment. Hence such guidance forces are exempt from the inaccuracies that can be expected in practical implementations. The goal of this research is to quantify the extent to which task execution is degraded by inaccuracies in the model on which haptic guidance forces are based. In a human-in-the-loop experiment, subjects (n = 14) performed a realistic tele-manipulated assembly task in a virtual environment. Operators were provided with various levels of haptic guidance, namely no haptic guidance (conventional tele-manipulation), haptic guidance without inaccuracies, and haptic guidance with translational inaccuracies (one large inaccuracy, in the order of magnitude of the task, and a second smaller inaccuracy). The quality of natural haptic feedback (i.e., haptic transparency) was varied between high and low to identify the operator's ability to detect and cope with inaccuracies in haptic guidance. The results indicate that haptic guidance is beneficial for task execution when no inaccuracies are present in the guidance. When inaccuracies are present, this may degrade task execution, depending on the magnitude and the direction of the inaccuracy. The effect of inaccuracies on overall task performance is dominated by effects found for the Constrained Translational Movement, due to its potential for jamming. No evidence was found that a higher quality of haptic transparency helps operators to detect and cope with inaccuracies in the haptic guidance.
DOI: 10.1109/TOH.2015.2406708
PubMed: 25850094
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000379
- to stream PubMed, to step Curation: 000379
- to stream PubMed, to step Checkpoint: 002369
- to stream Ncbi, to step Merge: 003822
- to stream Ncbi, to step Curation: 003822
- to stream Ncbi, to step Checkpoint: 003822
Links to Exploration step
pubmed:25850094Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution.</title>
<author><name sortKey="Van Oosterhout, Jeroen" sort="Van Oosterhout, Jeroen" uniqKey="Van Oosterhout J" first="Jeroen" last="Van Oosterhout">Jeroen Van Oosterhout</name>
</author>
<author><name sortKey="Wildenbeest, Jeroen G W" sort="Wildenbeest, Jeroen G W" uniqKey="Wildenbeest J" first="Jeroen G W" last="Wildenbeest">Jeroen G W. Wildenbeest</name>
</author>
<author><name sortKey="Boessenkool, Henri" sort="Boessenkool, Henri" uniqKey="Boessenkool H" first="Henri" last="Boessenkool">Henri Boessenkool</name>
</author>
<author><name sortKey="Heemskerk, Cock J M" sort="Heemskerk, Cock J M" uniqKey="Heemskerk C" first="Cock J M" last="Heemskerk">Cock J M. Heemskerk</name>
</author>
<author><name sortKey="De Baar, Marco R" sort="De Baar, Marco R" uniqKey="De Baar M" first="Marco R" last="De Baar">Marco R. De Baar</name>
</author>
<author><name sortKey="Van Der Helm, Frans C T" sort="Van Der Helm, Frans C T" uniqKey="Van Der Helm F" first="Frans C T" last="Van Der Helm">Frans C T. Van Der Helm</name>
</author>
<author><name sortKey="Abbink, David A" sort="Abbink, David A" uniqKey="Abbink D" first="David A" last="Abbink">David A. Abbink</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="????"><PubDate><MedlineDate>2015 Apr-Jun</MedlineDate>
</PubDate>
</date>
<idno type="doi">10.1109/TOH.2015.2406708</idno>
<idno type="RBID">pubmed:25850094</idno>
<idno type="pmid">25850094</idno>
<idno type="wicri:Area/PubMed/Corpus">000379</idno>
<idno type="wicri:Area/PubMed/Curation">000379</idno>
<idno type="wicri:Area/PubMed/Checkpoint">002369</idno>
<idno type="wicri:Area/Ncbi/Merge">003822</idno>
<idno type="wicri:Area/Ncbi/Curation">003822</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">003822</idno>
<idno type="wicri:Area/Main/Merge">00B165</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution.</title>
<author><name sortKey="Van Oosterhout, Jeroen" sort="Van Oosterhout, Jeroen" uniqKey="Van Oosterhout J" first="Jeroen" last="Van Oosterhout">Jeroen Van Oosterhout</name>
</author>
<author><name sortKey="Wildenbeest, Jeroen G W" sort="Wildenbeest, Jeroen G W" uniqKey="Wildenbeest J" first="Jeroen G W" last="Wildenbeest">Jeroen G W. Wildenbeest</name>
</author>
<author><name sortKey="Boessenkool, Henri" sort="Boessenkool, Henri" uniqKey="Boessenkool H" first="Henri" last="Boessenkool">Henri Boessenkool</name>
</author>
<author><name sortKey="Heemskerk, Cock J M" sort="Heemskerk, Cock J M" uniqKey="Heemskerk C" first="Cock J M" last="Heemskerk">Cock J M. Heemskerk</name>
</author>
<author><name sortKey="De Baar, Marco R" sort="De Baar, Marco R" uniqKey="De Baar M" first="Marco R" last="De Baar">Marco R. De Baar</name>
</author>
<author><name sortKey="Van Der Helm, Frans C T" sort="Van Der Helm, Frans C T" uniqKey="Van Der Helm F" first="Frans C T" last="Van Der Helm">Frans C T. Van Der Helm</name>
</author>
<author><name sortKey="Abbink, David A" sort="Abbink, David A" uniqKey="Abbink D" first="David A" last="Abbink">David A. Abbink</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on haptics</title>
<idno type="eISSN">2329-4051</idno>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adolescent</term>
<term>Adult</term>
<term>Computer Simulation</term>
<term>Humans</term>
<term>Man-Machine Systems</term>
<term>Psychomotor Performance (physiology)</term>
<term>Reaction Time (physiology)</term>
<term>Task Performance and Analysis</term>
<term>Touch</term>
<term>Young Adult</term>
</keywords>
<keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Psychomotor Performance</term>
<term>Reaction Time</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Adolescent</term>
<term>Adult</term>
<term>Computer Simulation</term>
<term>Humans</term>
<term>Man-Machine Systems</term>
<term>Task Performance and Analysis</term>
<term>Touch</term>
<term>Young Adult</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Haptic shared control is a promising approach to improve tele-manipulated task execution, by making safe and effective control actions tangible through guidance forces. In current research, these guidance forces are most often generated based on pre-generated, errorless models of the remote environment. Hence such guidance forces are exempt from the inaccuracies that can be expected in practical implementations. The goal of this research is to quantify the extent to which task execution is degraded by inaccuracies in the model on which haptic guidance forces are based. In a human-in-the-loop experiment, subjects (n = 14) performed a realistic tele-manipulated assembly task in a virtual environment. Operators were provided with various levels of haptic guidance, namely no haptic guidance (conventional tele-manipulation), haptic guidance without inaccuracies, and haptic guidance with translational inaccuracies (one large inaccuracy, in the order of magnitude of the task, and a second smaller inaccuracy). The quality of natural haptic feedback (i.e., haptic transparency) was varied between high and low to identify the operator's ability to detect and cope with inaccuracies in haptic guidance. The results indicate that haptic guidance is beneficial for task execution when no inaccuracies are present in the guidance. When inaccuracies are present, this may degrade task execution, depending on the magnitude and the direction of the inaccuracy. The effect of inaccuracies on overall task performance is dominated by effects found for the Constrained Translational Movement, due to its potential for jamming. No evidence was found that a higher quality of haptic transparency helps operators to detect and cope with inaccuracies in the haptic guidance.</div>
</front>
</TEI>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 00B165 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 00B165 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Merge |type= RBID |clé= pubmed:25850094 |texte= Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution. }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:25850094" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
This area was generated with Dilib version V0.6.23. |