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.
![]() |
PDF
- Only accessible within DLR
376kB |
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.
Item URL in elib: | https://elib.dlr.de/65894/ | |||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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: |
| |||||||||||||||||||||
Date: | September 2010 | |||||||||||||||||||||
Journal or Publication Title: | Proceedings of | |||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||
Open Access: | No | |||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||
In SCOPUS: | No | |||||||||||||||||||||
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 | |||||||||||||||||||||
HGF - Program: | Transport | |||||||||||||||||||||
HGF - Program Themes: | Terrestrial Vehicles (old) | |||||||||||||||||||||
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 (until 2012) > Robotic Systems | |||||||||||||||||||||
Deposited By: | Preusche, Carsten | |||||||||||||||||||||
Deposited On: | 02 Nov 2010 13:50 | |||||||||||||||||||||
Last Modified: | 09 Feb 2017 19:18 |
Repository Staff Only: item control page