Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution

TitleHaptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution
Publication TypeJournal Article
Year of Publication2018
AuthorsJ. van Oosterhout, C.JM Heemskerk, M.R de Baar, F.CT van der Helm, D.A Abbink
JournalIEEE Transactions on Haptics
Volume11
Issue1
Pagination128-139
Date Published03/2018
Abstract

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.

DOI10.1109/TOH.2017.2759108
Division

FP

Department

TP

PID

0b71d9627b7512ceb2ece67fb4b67160

Alternate TitleIEEE Trans. Haptics

Go back one page.