Haptic shared control improves hot cell remote handling despite controller inaccuracies

TitleHaptic shared control improves hot cell remote handling despite controller inaccuracies
Publication TypeJournal Article
Year of Publication2013
AuthorsJ. van Oosterhout, D.A Abbink, J.F Koning, H. Boessenkool, J.GW Wildenbeest, C.JM Heemskerk
JournalFusion Engineering and Design
Volume88
Number9–10
Pagination2119 - 2122
KeywordsHaptic share control, Model inaccuracies, Remote handling, Teleoperation
Abstract

A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without ⿿ potentially flawed ⿿ haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations.

URLhttp://www.sciencedirect.com/science/article/pii/S0920379612004693
DOI10.1016/j.fusengdes.2012.11.006
Division

FP

Department

TP

PID

9240db21aad6f282461938fe51694ef0

Alternate TitleFusion Eng. Des.

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