Human–Machine Interaction in Intelligent Robotic Systems: A Unifying Consideration with Implementation Examples

Authors:
S. G. Tzafestas;E. S. Tzafestas
Affiliations:
Intelligent Robotics and Automation Laboratory, Department of Electrical and Computer Engineering, NTUA Zographou, Athens, GR-15773, Greece/ e-mail: tzafesta@softlab.ece.ntua.gr;Intelligent Robotics and Automation Laboratory, Department of Electrical and Computer Engineering, NTUA Zographou, Athens, GR-15773, Greece/ e-mail: brensham@softlab.ece.ntua.gr
Venue:
Journal of Intelligent and Robotic Systems
Year:
2001

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Abstract

The goal of this paper is to provide a general unified discussion of the human machine interaction issues as applied to robotics. First, the general structure of intelligent Human Machine Interfaces (HMIs) is presented. Then the class of natural language interfaces (NLIs) is reviewed. Next the class of graphical HMIs (GHMIs) is investigated including the combination of GHMIs with Virtual Reality (VR) system facilities. Finally, the category of force sensing/tactile-based HMIs is considered, where joysticks, force-reflecting devices, exoskeleton haptic devices and dextrous arm masters are included. The paper ends with a short presentation of five implementation examples of HMIs in various robotic systems and applications.