Feedback strategies for telemanipulation with shared control of object handling forces

Authors:
Weston B. Griffin;William R. Provancher;Mark R. Cutkosky
Affiliations:
GE Global Research, Niskayuna, New York;Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah;Department of Mechanical Engineering, Stanford University, Stanford, California
Venue:
Presence: Teleoperators and Virtual Environments - Special section: Legal, ethical, and policy issues associated with virtual environments and computer mediated reality
Year:
2005

Citing 2
Cited 8

Robot hands and the mechanics of manipulation

Robot hands and the mechanics of manipulation
Telerobotics, automation, and human supervisory control

Telerobotics, automation, and human supervisory control

A bilateral teleoperation controller considering the transition between the free space motion and the constrained motion

Robotica
Using haptic feedback to improve grasp force control in multiple sclerosis patients

IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Improving finger force control with vibrational haptic feedback for Multiple Sclerosis

Telehealth/AT '08 Proceedings of the IASTED International Conference on Telehealth/Assistive Technologies
Open-loop bilateral teleoperation for stable force tracking

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Strategies for human-in-the-loop robotic grasping

HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Assistive robot application based on an RFID control architecture and a wireless EOG interface

Robotics and Autonomous Systems
Extending myoelectric prosthesis control with shapable automation: a first assessment

Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Human Model Reference Adaptive Control of a Prosthetic Hand

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Shared control represents a middle ground between supervisory control and traditional bilateral control in which the remote system can exert control over some aspects of the task while the human operator maintains access to low-level forces and motions. In the case of dexterous telemanipulation, a natural approach is to share control of the object handling forces while giving the human operator direct access to remote tactile and force information at the slave fingertips. We describe a set of experiments designed to determine whether shared control can improve the ability of an operator to handle objects delicately and to determine what combinations of force, visual, and audio feedback provide the best level of performance and operator sense of presence. The results demonstrate the benefits of shared control and the need to carefully choose the types and methods of direct and indirect feedback.