Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation 
of Multiple Robots

Son, HI; Chuang, LL; Franchi, A; Kim, J; Lee, D; Lee, S-W; Bülthoff, HH; Robuffo Giordano, P

doi:10.1109/IROS.2011.6094618

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会議論文

Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots

MPS-Authors

/persons/resource/persons84227

Son, HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83861

Chuang, LL
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83915

Franchi, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83839

Bülthoff, HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons84174

Robuffo Giordano, P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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引用

Son, H., Chuang, L., Franchi, A., Kim, J., Lee, D., Lee, S.-W., Bülthoff, H., & Robuffo Giordano, P. (2011). Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots. In N., Amato (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 3039-3046). Piscatawy, NJ, USA: IEEE.

引用: https://hdl.handle.net/11858/00-001M-0000-0013-BA58-0

要旨

In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.