A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training
Identifieur interne : 000009 ( Hal/Curation ); précédent : 000008; suivant : 000010A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training
Auteurs : Fei Liu [France] ; Arnaud Leleve [France] ; Damien Eberard [France] ; Tanneguy Redarce [France]Source :
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Abstract
This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detemined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.
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The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detemined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training</title><author role="aut"><persName><forename type="first">Fei</forename><surname>Liu</surname></persName><email>fei.liu@insa-lyon.fr</email><idno type="halauthor">1215281</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Arnaud</forename><surname>Leleve</surname></persName><email>Arnaud.Leleve@insa-lyon.fr</email><idno type="idhal">arnaud-leleve</idno><idno type="halauthor">45716</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Damien</forename><surname>Eberard</surname></persName><email>damien.eberard@insa-lyon.fr</email><idno type="halauthor">397178</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Tanneguy</forename><surname>Redarce</surname></persName><email>tanneguy.redarce@insa-lyon.fr</email><idno type="halauthor">216417</idno><affiliation ref="#struct-408749"></affiliation></author><editor role="depositor"><persName><forename>Arnaud</forename><surname>Leleve</surname></persName><email>arnaud.leleve@insa-lyon.fr</email></editor><funder>CSC</funder></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2016-02-15 14:10:13</date><date type="whenWritten">2015-06-11</date><date type="whenModified">2016-03-21 17:45:22</date><date type="whenReleased">2016-02-16 11:33:51</date><date type="whenProduced">2015-07-08</date><date type="whenEndEmbargoed">2016-02-11</date><ref type="file" target="https://hal.archives-ouvertes.fr/hal-01199674/document"><date notBefore="2016-02-11"></date></ref><ref type="file" subtype="author" n="1" target="https://hal.archives-ouvertes.fr/hal-01199674/file/MESROB2015-for-hal.pdf"><date notBefore="2016-02-11"></date></ref></edition><respStmt><resp>contributor</resp><name key="115057"><persName><forename>Arnaud</forename><surname>Leleve</surname></persName><email>arnaud.leleve@insa-lyon.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-01199674</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-01199674</idno><idno type="halBibtex">liu:hal-01199674</idno><idno type="halRefHtml">4th International Workshop on Medical and Service Robots (MESROB 2015), Jul 2015, Nantes, France. Proceeding of the 4th International Workshop on Medical and Service Robots, 2015</idno><idno type="halRef">4th International Workshop on Medical and Service Robots (MESROB 2015), Jul 2015, Nantes, France. Proceeding of the 4th International Workshop on Medical and Service Robots, 2015</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="EC-LYON">Ecole Centrale de Lyon</idno><idno type="stamp" n="AMPERE">Ampère</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training</title><author role="aut"><persName><forename type="first">Fei</forename><surname>Liu</surname></persName><email>fei.liu@insa-lyon.fr</email><idno type="halAuthorId">1215281</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Arnaud</forename><surname>Leleve</surname></persName><email>Arnaud.Leleve@insa-lyon.fr</email><idno type="idHal">arnaud-leleve</idno><idno type="halAuthorId">45716</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Damien</forename><surname>Eberard</surname></persName><email>damien.eberard@insa-lyon.fr</email><idno type="halAuthorId">397178</idno><affiliation ref="#struct-408749"></affiliation></author><author role="aut"><persName><forename type="first">Tanneguy</forename><surname>Redarce</surname></persName><email>tanneguy.redarce@insa-lyon.fr</email><idno type="halAuthorId">216417</idno><affiliation ref="#struct-408749"></affiliation></author></analytic><monogr><title level="m">Proceeding of the 4th International Workshop on Medical and Service Robots</title><meeting><title>4th International Workshop on Medical and Service Robots (MESROB 2015)</title><date type="start">2015-07-08</date><date type="end">2015-07-10</date><settlement>Nantes</settlement><country key="FR">France</country></meeting><imprint><date type="datePub">2015</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Dual-user Teleoperation</term><term xml:lang="en">Port-Hamiltonian</term><term xml:lang="en">Adaptive Authority Adjustment (AAA)</term><term xml:lang="en">Shared Control</term></keywords><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detemined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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