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Shared and cooperative movement control of intelligent technical systems: Sketch of the design space of haptic-multimodal coupling between operator, co-automation, base system and environment

Flemisch, Frank and Heesen, Matthias and Kelsch, Johann and Schindler, Julian and Preusche, Carsten and Dittrich, Joerg (2010) Shared and cooperative movement control of intelligent technical systems: Sketch of the design space of haptic-multimodal coupling between operator, co-automation, base system and environment. In: Proceedings of. 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, Valenciennes, France.

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Abstract

This paper sketches the concept of haptic-multimodal coupling between operator, coautomation, base system and environment. Haptic-multimodal couplings use mainly the haptic interaction resource, e.g. the combination of hands and feet with active inceptors like active sidesticks or steering wheels, and complement this with e.g. visual and acoustic feedback. Haptic-multimodal couplings can serve as a base for shared control, and, if the co-automation has a minimum of understanding of and reactivity to the human operator, for a cooperative control between operator and automation. The paper gives a brief introduction of shared and cooperative control, starting with examples in the non-technical world, and sketches the basic structure the couplings and coupling schemes. While much of the design space is yet to be explored and described more systematically, some combinations of haptic-multimodal couplings can already be applied, e.g. to the cooperative control of an intelligent ground vehicle or in telerobotics. The paper briefly describes examples of an automation-initiated de-coupling of a driver and of a helicopter pilot in case of an emergency maneuver, and the coupling between an operator and a satellite control for a berthing maneuver.

Document Type:Conference or Workshop Item (Paper)
Title:Shared and cooperative movement control of intelligent technical systems: Sketch of the design space of haptic-multimodal coupling between operator, co-automation, base system and environment
Authors:
AuthorsInstitution or Email of Authors
Flemisch, Frank Frank.Flemisch@dlr.de
Heesen, Matthias Matthias.Heesen@dlr.de
Kelsch, Johann Johann.Kelsch@dlr.de
Schindler, Julian Julian.Schindler@dlr.de
Preusche, Carsten Carsten.Preusche@dlr.de
Dittrich, Joerg Joerg.Dittrich@dlr.de
Date:September 2010
Journal or Publication Title:Proceedings of
Refereed publication:Yes
In ISI Web of Science:Yes
Status:Published
Keywords:automation, assistance, shared control, cooperative control, haptic, haptic-multimodal coupling
Event Title:11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems
Event Location:Valenciennes, France
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrerassistenz (old)
Location: Braunschweig , Oberpfaffenhofen
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Transportation Systems > Automotive
Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Carsten Preusche
Deposited On:02 Nov 2010 13:50
Last Modified:25 Mar 2011 10:26

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