TY - GEN
T1 - Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots
AU - Son, Hyoung Il
AU - Chuang, Lewis L.
AU - Franchi, Antonio
AU - Kim, Junsuk
AU - Lee, Dongjun
AU - Lee, Seong Whan
AU - Bülthoff, Heinrich H.
AU - Robuffo Giordano, Paolo
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455168677&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048185
DO - 10.1109/IROS.2011.6048185
M3 - Conference contribution
AN - SCOPUS:84455168677
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3039
EP - 3046
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -