Teleloperation of field mobile manipulator with wearable haptic-based multi-modal user interface and its application to explosive ordnance disposal
Identifieur interne : 006896 ( Main/Merge ); précédent : 006895; suivant : 006897Teleloperation of field mobile manipulator with wearable haptic-based multi-modal user interface and its application to explosive ordnance disposal
Auteurs : Dongseok Ryu [Corée du Sud] ; Chang-Soon Hwang [Corée du Sud] ; Sungchul Kang [Corée du Sud] ; Munsang Kim [Corée du Sud] ; Jae-Bok Song [Corée du Sud]Source :
- Journal of mechanical science and technology [ 1738-494X ] ; 2005.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.
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Pascal:05-0461654Le document en format XML
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robot</term><term>Portability</term><term>Reliability</term><term>Remote operation</term><term>Rescue</term><term>Robotics</term><term>Tactile sensitivity</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robot mobile</term><term>Interface utilisateur</term><term>Robotique</term><term>Fiabilité</term><term>Portabilité</term><term>Sensibilité tactile</term><term>Téléopération</term><term>Risque accidentel</term><term>Sauvetage</term><term>Audition</term><term>.</term><term>Corps fonction</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country><settlement><li>Séoul</li></settlement></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Ryu, Dongseok" sort="Ryu, Dongseok" uniqKey="Ryu D" first="Dongseok" last="Ryu">Dongseok Ryu</name></noRegion><name sortKey="Hwang, Chang Soon" sort="Hwang, Chang Soon" uniqKey="Hwang C" first="Chang-Soon" last="Hwang">Chang-Soon Hwang</name><name sortKey="Kang, Sungchul" sort="Kang, Sungchul" uniqKey="Kang S" first="Sungchul" last="Kang">Sungchul Kang</name><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name><name sortKey="Ryu, Dongseok" sort="Ryu, Dongseok" uniqKey="Ryu D" first="Dongseok" last="Ryu">Dongseok Ryu</name><name sortKey="Song, Jae Bok" sort="Song, Jae Bok" uniqKey="Song J" first="Jae-Bok" last="Song">Jae-Bok Song</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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