Paper Info
Title
User Evaluation Of A Haptic-Enabled Shared-Control Approach For Robotic Telemanipulation
Abstract
Robotic telemanipulators are already widely used in nuclear decommissioning sites for handling radioactive waste. However, currently employed systems are still extremely primitive, making the handling of these materials prohibitively slow and ineffective. As the estimated cost for the decommissioning and clean-up of nuclear sites keeps rising, it is clear that one would need faster and more effective approaches. Towards this goal, in this paper we present the user evaluation of a recently proposed haptic-enabled shared-control architecture for telemanipulation. An autonomous algorithm regulates a subset of the slave manipulator degrees of freedom (DoF) in order to help the human operator in grasping an object of interest. The human operator can then steer the manipulator along the remaining null-space directions with respect to the main task by acting on a grounded haptic interface. The haptic cues provided to the operator are designed in order to inform about the feasibility of the user's commands with respect to possible constraints of the robotic system. In this paper we compared this shared-control architecture against a classical 6-DOF teleoperation approach in a real scenario by running experiments with 10 subjects. The results clearly show that the proposed shared-control approach is a viable and effective solution for improving currently-available teleoperation systems in remote telemanipulation tasks.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594030
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Nuclear decommissioning,Teleoperation,Architecture,Human operator,Task analysis,Computer science,Control engineering,Operator (computer programming),Grippers,Haptic technology
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Firas Abi-Farraj182.46
Claudio Pacchierotti251944.36
Paolo Robuffo Giordano384362.07