Haptic teleoperation of a mobile robot: A user study

Sangyoon Lee, Gaurav Sukhatme, Jeonghyun Kim, Chan Mo Park

Research output: Contribution to journalArticle

47 Citations (Scopus)


The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information, A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

Original languageEnglish
Pages (from-to)345-365
Number of pages21
JournalPresence: Teleoperators and Virtual Environments
Issue number3
Publication statusPublished - 2005 Jun 1
Externally publishedYes


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Graphics and Computer-Aided Design
  • Software

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