Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Hyoung Il Son, Lewis L. Chuang, Antonio Franchi, Junsuk Kim, Dongjun Lee, Seong Whan Lee, Heinrich Bulthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3039-3046
Number of pages8
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Son, H. I., Chuang, L. L., Franchi, A., Kim, J., Lee, D., Lee, S. W., Bulthoff, H., & Robuffo Giordano, P. (2011). Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots. In IEEE International Conference on Intelligent Robots and Systems (pp. 3039-3046). [6048185] https://doi.org/10.1109/IROS.2011.6048185