HapticV1, PascalFrancis, Corpus, bibRecord, 000355

Human-Oriented Control for Haptic Teleoperation

Identifieur interne : 000355 ( PascalFrancis/Corpus ); précédent : 000354; suivant : 000356

Human-Oriented Control for Haptic Teleoperation

Auteurs : Sandra Hirche ; Martin Buss

Source :

Proceedings of the IEEE [ 0018-9219 ] ; 2012.

RBID : Pascal:12-0129071

Descripteurs français

Pascal (Inist)
- Téléopération, Boucle commande, Rétroaction, Système aide décision, Synthèse commande, Opérateur humain, Evaluation performance, Métrique, Boucle fermée, Modèle comportement, Evaluation subjective, Compression donnée, Psychophysique, Temps retard.

English descriptors

KwdEn :
- Behavior model, Closed loop, Control loop, Control synthesis, Data compression, Decision support system, Delay time, Feedback regulation, Human operator, Metric, Performance evaluation, Psychophysics, Remote operation, Subjective evaluation.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A08	`01`	`1`	`ENG`	`@1 Human-Oriented Control for Haptic Teleoperation`
A09	`01`	`1`	`ENG`	`@1 Interaction Dynamics: The Interface of Humans and Smart Machines`
A11	`01`	`1`		`@1 HIRCHE (Sandra)`
A11	`02`	`1`		`@1 BUSS (Martin)`
A12	`01`	`1`		`@1 BAILLIEUL (John) @9 ed.`
A12	`02`	`1`		`@1 EHRICH LEONARD (Naomi) @9 ed.`
A12	`03`	`1`		`@1 MORGANSEN (Kristi A.) @9 ed.`
A14	`01`			`@1 Department of Electrical Engineering and Information Technology, Technische Universität München @2 Munich 80290 @3 DEU @Z 1 aut. @Z 2 aut.`
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A44				`@0 0000 @1 © 2012 INIST-CNRS. All rights reserved.`
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C01	`01`		`ENG`	@0 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.
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C03	`02`	`X`	`ENG`	`@0 Control loop @5 02`
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C03	`05`	`X`	`SPA`	`@0 Síntesis control @5 05`
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C03	`08`	`X`	`ENG`	`@0 Metric @5 08`
C03	`08`	`X`	`SPA`	`@0 Métrico @5 08`
C03	`09`	`X`	`FRE`	`@0 Boucle fermée @5 09`
C03	`09`	`X`	`ENG`	`@0 Closed loop @5 09`
C03	`09`	`X`	`SPA`	`@0 Bucle cerrado @5 09`
C03	`10`	`X`	`FRE`	`@0 Modèle comportement @5 10`
C03	`10`	`X`	`ENG`	`@0 Behavior model @5 10`
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N44	`01`			`@1 OTO`
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Format Inist (serveur)

NO :	PASCAL 12-0129071 INIST
ET :	Human-Oriented Control for Haptic Teleoperation
AU :	HIRCHE (Sandra); BUSS (Martin); BAILLIEUL (John); EHRICH LEONARD (Naomi); MORGANSEN (Kristi A.)
AF :	Department of Electrical Engineering and Information Technology, Technische Universität München/Munich 80290/Allemagne (1 aut., 2 aut.); IEEE/Etats-Unis (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	Proceedings of the IEEE; ISSN 0018-9219; Coden IEEPAD; Etats-Unis; Da. 2012; Vol. 100; No. 3; Pp. 623-647; Bibl. 128 ref.
LA :	Anglais
EA :	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.
CC :	001D04B02H4; 001D04A04B
FD :	Téléopération; Boucle commande; Rétroaction; Système aide décision; Synthèse commande; Opérateur humain; Evaluation performance; Métrique; Boucle fermée; Modèle comportement; Evaluation subjective; Compression donnée; Psychophysique; Temps retard
ED :	Remote operation; Control loop; Feedback regulation; Decision support system; Control synthesis; Human operator; Performance evaluation; Metric; Closed loop; Behavior model; Subjective evaluation; Data compression; Psychophysics; Delay time
SD :	Teleacción; Bucle control; Retroacción; Sistema ayuda decisíon; Síntesis control; Operador humano; Evaluación prestación; Métrico; Bucle cerrado; Modelo comportamiento; Evaluación subjetiva; Compresión dato; Psicofísica; Tiempo retardo
LO :	INIST-222.354000509700530040
ID :	12-0129071

Links to Exploration step

Pascal:12-0129071

Le document en format XML

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<server><NO>PASCAL 12-0129071 INIST</NO>
<ET>Human-Oriented Control for Haptic Teleoperation</ET>
<AU>HIRCHE (Sandra); BUSS (Martin); BAILLIEUL (John); EHRICH LEONARD (Naomi); MORGANSEN (Kristi A.)</AU>
<AF>Department of Electrical Engineering and Information Technology, Technische Universität München/Munich 80290/Allemagne (1 aut., 2 aut.); IEEE/Etats-Unis (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Proceedings of the IEEE; ISSN 0018-9219; Coden IEEPAD; Etats-Unis; Da. 2012; Vol. 100; No. 3; Pp. 623-647; Bibl. 128 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D04B02H4; 001D04A04B</CC>
<FD>Téléopération; Boucle commande; Rétroaction; Système aide décision; Synthèse commande; Opérateur humain; Evaluation performance; Métrique; Boucle fermée; Modèle comportement; Evaluation subjective; Compression donnée; Psychophysique; Temps retard</FD>
<ED>Remote operation; Control loop; Feedback regulation; Decision support system; Control synthesis; Human operator; Performance evaluation; Metric; Closed loop; Behavior model; Subjective evaluation; Data compression; Psychophysics; Delay time</ED>
<SD>Teleacción; Bucle control; Retroacción; Sistema ayuda decisíon; Síntesis control; Operador humano; Evaluación prestación; Métrico; Bucle cerrado; Modelo comportamiento; Evaluación subjetiva; Compresión dato; Psicofísica; Tiempo retardo</SD>
<LO>INIST-222.354000509700530040</LO>
<ID>12-0129071</ID>
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Human-Oriented Control for Haptic Teleoperation

Human-Oriented Control for Haptic Teleoperation

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