Hagengruber, Annette und Höppner, Hannes und Vogel, Jörn (2017) Blindfolded Robotic Teleoperation using Spatial Force Feedback to the Toe. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE. ICRA 2017, 2017-05-29 - 2017-06-02, Singapur. doi: 10.1109/ICRA.2017.7989056. ISBN 978-150904633-1. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/7989056
Kurzfassung
This paper examines the capability to incorporate spatial force feedback to the human toe when teleoperating a robotic arm in a force task. Due to the growing complexity of teleoperated systems new means of feedback get increasingly important. To investigate the viability of spatial toe-feedback, experiments with 12 subjects were conducted. The participants had to teleoperate a DLR Light-Weight Robot (LWR) via optical tracking of one finger in order to push a toy train. The orientation of the rail was unknown to the subject and had to be explored using the haptic Feedback - a three-dimensional spatial force to the toe, reflecting the contact forces at the robotic endeffector - in absence of visual feedback. The rail was mounted in one of four possible orientations (differences of 45°). The main task of the experiment was to identify the present orientation. In our study subjects could successfully identify the orientation of the rail in more than two thirds of all trials (68%). In almost half of the trials (44%) the subjects were able to move the train along the rails long enough to reach the bumpers at the end and identify them as such. Assuming no feedback would be provided at all, the first metric has a chance level of 25%, and reaching the bumper can be considered impossible. Thus, we can conclude that humans can incorporate spatial force feedback to the toe into their sensorimotor loop.
elib-URL des Eintrags: | https://elib.dlr.de/112695/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Blindfolded Robotic Teleoperation using Spatial Force Feedback to the Toe | ||||||||||||||||
Autoren: |
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Datum: | Mai 2017 | ||||||||||||||||
Erschienen in: | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/ICRA.2017.7989056 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||
ISBN: | 978-150904633-1 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Haptics and Haptic Interfaces Human-in-the-Loop Force Feedback | ||||||||||||||||
Veranstaltungstitel: | ICRA 2017 | ||||||||||||||||
Veranstaltungsort: | Singapur | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2017 | ||||||||||||||||
Veranstaltungsende: | 2 Juni 2017 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||
Hinterlegt von: | Hagengruber, Annette | ||||||||||||||||
Hinterlegt am: | 19 Jun 2017 11:37 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:17 |
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