Human-Oriented Control for Haptic Teleoperation
Identifieur interne : 002755 ( Main/Exploration ); précédent : 002754; suivant : 002756Human-Oriented Control for Haptic Teleoperation
Auteurs : Sandra Hirche [Allemagne] ; Martin Buss [Allemagne]Source :
- Proceedings of the IEEE [ 0018-9219 ] ; 2012.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled, hazardous, or inaccessible environments. The human closes the control loop sending haptic command signals to and receiving haptic feedback signals from the remote teleoperator. The main research question is how to design the control such that human decision making and action is supported in the best possible way while ensuring robust operation of the system. The human in the loop induces two major challenges for control design: 1) the dynamics of the human operator and the teleoperation system are tightly coupled, i.e., stability of the overall system is affected by the human operator dynamics; and 2) the performance of the teleoperation system is subjectively evaluated by the human, which typically means that standard control performance metrics are not suitable. This paper discusses recent control design successes in the area of haptic teleoperation. In particular, the importance and need of dynamic human haptic closed-loop behavior models and human perception models for the further improvement of haptic teleoperation systems is highlighted and discussed for real-world problem domains.
Affiliations:
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IEEE</title><idno type="ISSN">0018-9219</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Proceedings of the IEEE</title><title level="j" type="abbreviated">Proc. IEEE</title><idno type="ISSN">0018-9219</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Behavior model</term><term>Closed loop</term><term>Control loop</term><term>Control synthesis</term><term>Data compression</term><term>Decision support system</term><term>Delay time</term><term>Feedback regulation</term><term>Human operator</term><term>Metric</term><term>Performance evaluation</term><term>Psychophysics</term><term>Remote operation</term><term>Subjective evaluation</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term><term>Boucle commande</term><term>Rétroaction</term><term>Système aide décision</term><term>Synthèse commande</term><term>Opérateur humain</term><term>Evaluation performance</term><term>Métrique</term><term>Boucle fermée</term><term>Modèle comportement</term><term>Evaluation subjective</term><term>Compression donnée</term><term>Psychophysique</term><term>Temps retard</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled, hazardous, or inaccessible environments. The human closes the control loop sending haptic command signals to and receiving haptic feedback signals from the remote teleoperator. The main research question is how to design the control such that human decision making and action is supported in the best possible way while ensuring robust operation of the system. The human in the loop induces two major challenges for control design: 1) the dynamics of the human operator and the teleoperation system are tightly coupled, i.e., stability of the overall system is affected by the human operator dynamics; and 2) the performance of the teleoperation system is subjectively evaluated by the human, which typically means that standard control performance metrics are not suitable. This paper discusses recent control design successes in the area of haptic teleoperation. In particular, the importance and need of dynamic human haptic closed-loop behavior models and human perception models for the further improvement of haptic teleoperation systems is highlighted and discussed for real-world problem domains.</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="Hirche, Sandra" sort="Hirche, Sandra" uniqKey="Hirche S" first="Sandra" last="Hirche">Sandra Hirche</name></region><name sortKey="Buss, Martin" sort="Buss, Martin" uniqKey="Buss M" first="Martin" last="Buss">Martin Buss</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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