Cooperative manipulation between humans and teleoperated agents

Authors:
John Glassmire;Marcia O'Malley;William Bluethmann;Robert Ambrose
Affiliations:
Rice University, Houston, TX;Rice University, Houston, TX;NASA Johnson Space Center, Houston, TX;NASA Johnson Space Center, Houston, TX
Venue:
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Year:
2004

Citing 3
Cited 0

Force-feedback improves performance for steering and combined steering-targeting tasks

Proceedings of the SIGCHI conference on Human Factors in Computing Systems
Robonaut: NASA's Space Humanoid

IEEE Intelligent Systems
Bisensory force feedback in telerobotics

Bisensory force feedback in telerobotics

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Abstract

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with DARPA. This paper describes the implementation of haptic feedback into Robonaut. We conducted a cooperative manipulation task, inserting a flexible beam into an instrumented receptacle. This task was performed while both a human at the worksite and the teleoperated robot grasped the flexible beam simultaneously. Peak forces in the receptacle were consistently lower when the human operator was provided with kinesthetic force feedback in addition to other modalities of feedback such as gestures and voice commands. These findings are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.