DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Blindfolded Robotic Teleoperation using Spatial Force Feedback to the Toe

Hagengruber, Annette and Höppner, Hannes and 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, 29.05-02.06. 2017, Singapur. doi: 10.1109/ICRA.2017.7989056. ISBN 978-150904633-1. ISSN 1050-4729.

[img] PDF

Official URL: https://ieeexplore.ieee.org/document/7989056


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.

Item URL in elib:https://elib.dlr.de/112695/
Document Type:Conference or Workshop Item (Speech)
Title:Blindfolded Robotic Teleoperation using Spatial Force Feedback to the Toe
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hagengruber, AnnetteUNSPECIFIEDhttps://orcid.org/0000-0002-8243-1327UNSPECIFIED
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Date:May 2017
Journal or Publication Title:2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Haptics and Haptic Interfaces Human-in-the-Loop Force Feedback
Event Title:ICRA 2017
Event Location:Singapur
Event Type:international Conference
Event Dates:29.05-02.06. 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hagengruber, Annette
Deposited On:19 Jun 2017 11:37
Last Modified:29 Mar 2023 00:32

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.