Design and Evaluation of a Haptic Computer-Assistant for Telemanipulation Tasks
Identifieur interne : 001F54 ( Main/Exploration ); précédent : 001F53; suivant : 001F55Design and Evaluation of a Haptic Computer-Assistant for Telemanipulation Tasks
Auteurs : Nikolay Stefanov [Allemagne] ; Carolina Passenberg [Allemagne] ; Angelika Peer [Allemagne] ; Martin Buss [Allemagne]Source :
- IEEE transactions on human-machine systems : (Print) [ 2168-2291 ] ; 2013.
Descripteurs français
- Pascal (Inist)
- Analyse comportementale, Action, Estimation mouvement, Analyse scène, Homme, Système homme machine, Conception assistée, Sensibilité tactile, Téléopération, Opérateur humain, Transmission haut débit, Facteur humain, Echantillonnage, Changement comportement, Réparation, Disque dur, Comparaison par paire, Modèle Markov, Modèle Markov caché, Télérobotique, ..
- Wicri :
- topic : Homme.
English descriptors
- KwdEn :
- Action, Behavior change, Behavioral analysis, Computer aided design, Hard disk, Hidden Markov model, High rate transmission, Human, Human factor, Human operator, Man machine system, Markov model, Motion estimation, Paired comparison, Remote operation, Repair, Sampling, Scene analysis, Tactile sensitivity, Telerobotics.
Abstract
This paper introduces a computer-assisted teleoperation system, where the control over the teleoperator is shared between a human operator and computer assistance in order to improve the overall task performance. Two units, an action recognition and an assistance unit are introduced to provide context-specific assistance. The action recognition unit can evaluate haptic data, handle high sampling rates, and deal with human behavior changes caused by the actived haptic assistance. Repairing of a broken hard drive is selected as scenario and three different task-specific assistance functions are designed. The overall computer-assisted teleoperation system is evaluated in two steps: first, the performance of the action recognition unit is evaluated and then, the performance of the integrated computer-assisted teleoperation system is compared with an unassisted system by means of a user study with 15 participants. Overall action recognition rates of about 65% are achieved. Multivariate paired comparisons show that the computer-assisted teleoperation system significantly reduces the human effort and damage possibility compared with a teleoperation system without assistance.
Affiliations:
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Le document en format XML
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aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>80290</wicri:noRegion><placeName><settlement type="city">Munich</settlement><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region></placeName><orgName type="university">Université technique de Munich</orgName><placeName><settlement type="city">Munich</settlement><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region></placeName></affiliation></author><author><name sortKey="Peer, Angelika" sort="Peer, Angelika" uniqKey="Peer A" first="Angelika" last="Peer">Angelika Peer</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Institute of Automatic Control Engineering, Technische Universität München</s1><s2>München 80290</s2><s3>DEU</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>80290</wicri:noRegion><placeName><settlement 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Haute-Bavière</region></placeName><orgName type="university">Université technique de Munich</orgName><placeName><settlement type="city">Munich</settlement><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region></placeName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on human-machine systems : (Print)</title><title level="j" type="abbreviated">IEEE trans. hum.-mach. syst. : (Print)</title><idno type="ISSN">2168-2291</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on human-machine systems : (Print)</title><title level="j" type="abbreviated">IEEE trans. hum.-mach. syst. : (Print)</title><idno type="ISSN">2168-2291</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Action</term><term>Behavior change</term><term>Behavioral analysis</term><term>Computer aided design</term><term>Hard disk</term><term>Hidden Markov model</term><term>High rate transmission</term><term>Human</term><term>Human factor</term><term>Human operator</term><term>Man machine system</term><term>Markov model</term><term>Motion estimation</term><term>Paired comparison</term><term>Remote operation</term><term>Repair</term><term>Sampling</term><term>Scene analysis</term><term>Tactile sensitivity</term><term>Telerobotics</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Analyse comportementale</term><term>Action</term><term>Estimation mouvement</term><term>Analyse scène</term><term>Homme</term><term>Système homme machine</term><term>Conception assistée</term><term>Sensibilité tactile</term><term>Téléopération</term><term>Opérateur humain</term><term>Transmission haut débit</term><term>Facteur humain</term><term>Echantillonnage</term><term>Changement comportement</term><term>Réparation</term><term>Disque dur</term><term>Comparaison par paire</term><term>Modèle Markov</term><term>Modèle Markov caché</term><term>Télérobotique</term><term>.</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper introduces a computer-assisted teleoperation system, where the control over the teleoperator is shared between a human operator and computer assistance in order to improve the overall task performance. Two units, an action recognition and an assistance unit are introduced to provide context-specific assistance. The action recognition unit can evaluate haptic data, handle high sampling rates, and deal with human behavior changes caused by the actived haptic assistance. Repairing of a broken hard drive is selected as scenario and three different task-specific assistance functions are designed. The overall computer-assisted teleoperation system is evaluated in two steps: first, the performance of the action recognition unit is evaluated and then, the performance of the integrated computer-assisted teleoperation system is compared with an unassisted system by means of a user study with 15 participants. Overall action recognition rates of about 65% are achieved. Multivariate paired comparisons show that the computer-assisted teleoperation system significantly reduces the human effort and damage possibility compared with a teleoperation system without assistance.</div></front></TEI><affiliations><list><country><li>Allemagne</li></country><region><li>Bavière</li><li>District de Haute-Bavière</li></region><settlement><li>Munich</li></settlement><orgName><li>Université technique de Munich</li></orgName></list><tree><country name="Allemagne"><region name="Bavière"><name sortKey="Stefanov, Nikolay" sort="Stefanov, Nikolay" uniqKey="Stefanov N" first="Nikolay" last="Stefanov">Nikolay Stefanov</name></region><name sortKey="Buss, Martin" sort="Buss, Martin" uniqKey="Buss M" first="Martin" last="Buss">Martin Buss</name><name sortKey="Passenberg, Carolina" sort="Passenberg, Carolina" uniqKey="Passenberg C" first="Carolina" last="Passenberg">Carolina Passenberg</name><name sortKey="Peer, Angelika" sort="Peer, Angelika" uniqKey="Peer A" first="Angelika" last="Peer">Angelika Peer</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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