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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: IEEE International Conference on Robotics and Automation ICRA. ICRA 2017, 29.05-02.06. 2017, Singapur.

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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hagengruber, AnnetteAnnette.Hagengruber (at) dlr.dehttps://orcid.org/0000-0002-8243-1327
Höppner, HannesHannes.Hoeppner (at) dlr.deUNSPECIFIED
Vogel, JörnJoern.Vogel (at) dlr.deUNSPECIFIED
Date:May 2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
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
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:31 Jul 2019 20:10

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