LARIAT: Predictive Haptic Feedback to Improve Semi-Autonomous UGV Safety in a Case Study.

IF 2.4 3区 计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS
Chandler Stubbs, Kathleen Steadman, David M Bevly, Chad G Rose
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引用次数: 0

Abstract

While much work is being done to advance autonomous capabilities of mobile robotics, specifically unmanned ground vehicles (UGVs), some applications might currently be too complex or undesirable for full autonomy. Maintaining a human in the loop has proven to be a reliable strategy in these applications, yet there are currently limitations to the efficacy of human operators. Haptic feedback has been proposed as a method of addressing these limitations, and aiding UGV operators in safe and effective operation. This manuscript presents the experimental validation of LARIAT (Lowering Attention Requirements in semi-Autonomous Teleoperation), a portable haptic device for teleoperated semi-autonomous UGVs. This device utilizes an adapted predictive form of the Zero-Moment Point (ZMP) rollover index to inform haptic squeeze cues provided to the UGV operator for human-on-the-loop notifications. First, a brief design overview of LARIAT, implemented haptic control, and the ZMP index are presented. In addition to experimental device characterization of the just noticeable difference, we present a case study that demonstrates LARIAT's abilities to improve teleoperation performance. In an experiment involving a simulation of walking behind a semi-autonomous UGV, LARIAT reduced the number of UGV rollovers by up to 50%, with comparable or increased performance in a concurrent secondary tasks.

预测触觉反馈提高半自动UGV安全性的案例研究
虽然人们已经做了很多工作来提高移动机器人的自主能力,特别是无人地面车辆(ugv),但目前一些应用可能过于复杂或不适合完全自主。在这些应用中,在循环中保持人员已被证明是一种可靠的策略,但目前人类操作员的效率受到限制。触觉反馈被认为是解决这些限制的一种方法,可以帮助UGV操作员安全有效地操作。本文介绍了用于遥控半自主ugv的便携式触觉装置LARIAT(降低注意力要求)的实验验证。该设备利用零力矩点(ZMP)翻转索引的适应性预测形式,将触觉挤压提示提供给UGV操作员,以发出人类在环通知。首先,简要介绍了LARIAT的设计概况,实现了触觉控制,以及ZMP指数。除了实验设备表征的只是明显的差异,我们提出了一个案例研究,证明LARIAT的能力,以提高远程操作性能。在一项模拟行走在半自动UGV后面的实验中,LARIAT将UGV的侧翻次数减少了50%,在并发的次要任务中具有相当或更高的性能。
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来源期刊
IEEE Transactions on Haptics
IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-
CiteScore
5.90
自引率
13.80%
发文量
109
审稿时长
>12 weeks
期刊介绍: IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.
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