A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training
Identifieur interne : 000346 ( Main/Exploration ); précédent : 000345; suivant : 000347A 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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69134 Ecully cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.ec-lyon.fr</ref></desc></org></tutelle><tutelle active="#struct-194495" type="indirect"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5005" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author><author><name sortKey="Redarce, Tanneguy" sort="Redarce, Tanneguy" uniqKey="Redarce T" first="Tanneguy" last="Redarce">Tanneguy Redarce</name><affiliation wicri:level="1"><hal:affiliation type="department" xml:id="struct-408749" status="VALID"><orgName>Ampère, Département Méthodes pour l'Ingénierie des Systèmes</orgName><orgName type="acronym">MIS</orgName><desc><address><country key="FR"></country></address></desc><listRelation><relation active="#struct-31070" type="direct"></relation><relation active="#struct-126765" type="indirect"></relation><relation active="#struct-194495" type="indirect"></relation><relation active="#struct-301232" type="indirect"></relation><relation name="UMR5005" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-31070" type="direct"><org type="laboratory" xml:id="struct-31070" status="VALID"><orgName>Ampère</orgName><desc><address><addrLine>Ecole Centrale de Lyon, 36 Avenue Guy de Collongue, 69134 Ecully CEDEX</addrLine><country key="FR"></country></address><ref type="url">http://www.ampere-lab.fr/</ref></desc><listRelation><relation active="#struct-126765" type="direct"></relation><relation active="#struct-194495" type="direct"></relation><relation active="#struct-301232" type="direct"></relation><relation name="UMR5005" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-126765" type="indirect"><org type="institution" xml:id="struct-126765" status="VALID"><orgName>École Centrale de Lyon</orgName><orgName type="acronym">ECL</orgName><desc><address><addrLine>36 avenue Guy de Collongue - 69134 Ecully cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.ec-lyon.fr</ref></desc></org></tutelle><tutelle active="#struct-194495" type="indirect"><org type="institution" xml:id="struct-194495" status="VALID"><orgName>Université Claude Bernard Lyon 1</orgName><orgName type="acronym">UCBL</orgName><desc><address><addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lyon1.fr/</ref></desc></org></tutelle><tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5005" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Lyon</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Claude Bernard Lyon1</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lyon</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Adaptive Authority Adjustment (AAA)</term><term>Dual-user Teleoperation</term><term>Port-Hamiltonian</term><term>Shared Control</term></keywords></textClass></profileDesc></teiHeader><front><div type="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.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Lyon</li></settlement><orgName><li>Université Claude Bernard Lyon1</li><li>Université de Lyon</li></orgName></list><tree><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Liu, Fei" sort="Liu, Fei" uniqKey="Liu F" first="Fei" last="Liu">Fei Liu</name></region><name sortKey="Eberard, Damien" sort="Eberard, Damien" uniqKey="Eberard D" first="Damien" last="Eberard">Damien Eberard</name><name sortKey="Leleve, Arnaud" sort="Leleve, Arnaud" uniqKey="Leleve A" first="Arnaud" last="Leleve">Arnaud Leleve</name><name sortKey="Redarce, Tanneguy" sort="Redarce, Tanneguy" uniqKey="Redarce T" first="Tanneguy" last="Redarce">Tanneguy Redarce</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|wiki= Ticri/CIDE
|area= HapticV1
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|texte= A Dual-user Teleoperation System with Adaptive Authority Adjustment for Haptic Training
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