|Title||Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution|
|Publication Type||Journal Article|
|Year of Publication||2018|
|Authors||J. van Oosterhout, C.JM Heemskerk, M.R de Baar, F.CT van der Helm, D.A Abbink|
|Journal||IEEE Transactions on Haptics|
Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.
|Alternate Title||IEEE Trans. Haptics|
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