Benchmarking shared control for assistive manipulators: From controllability to the speed-accuracy trade-off

Stoelen, Martin F.; Tejada, Virginia Fernández de; Jardón, Alberto; Bonsignorio, Fabio; Balaguer, Carlos

doi:10.1109/iros.2012.6385847

Cited by 7 publications

(15 citation statements)

References 13 publications

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“…The results should be seen in relation with the previous studies that applied a similar approach to direct control by users with simulated disabilities [5,6]. If the benefits are confirmed with real end-users the same physical system could one day assist both on direct control by the user and on tele-assistance by a remote operator on more difficult tasks.…”

Section: Discussionsupporting

confidence: 60%

“…In the above example, once the robot no longer collides with the obstacles, it will stop learning new connections. See also previous work by the current authors on adaptive proximitybased collision-limitation for disabled users controlling assistive manipulators directly [5,6]. The work presented in the current paper extends this approach to teleoperation with time-varying delays.…”

Section: Related Workmentioning

confidence: 71%

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Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Stoelen

Tejada

Jardón

et al. 2016

Paladyn, Journal of Behavioral Robotics

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Abstract:The teleoperation of robot manipulators over the internet suffers from variable delays in the communications. Here we address a tele-assistance scenario, where a remote operator assists a disabled or elderly user on daily life tasks. Our behavioral approach uses local environment information from robot sensing to help enable faster execution for a given movement tolerance. This is achieved through a controller that automatically slows the operator down before having collisions, using a set of distributed proximity sensors. The controller is made to gradually increase the assistance in situations similar to those where ollisions have occurred in the past, thus adapting to the given operator, robot and task-set. Two controlled virtual experiments for tele-assistance with a 5 DOF manipulator were performed, with 300 ms and 600 ms mean variable round-trip delays. The results showed significant improvements in the median times of 12.6% and 16.5%, respectively. Improvements in the subjective workload were also seen with the controller. A first implementation on a physical robot manipulator is described.

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Section: Discussionsupporting

confidence: 60%

Section: Related Workmentioning

confidence: 71%

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Stoelen

Tejada

Jardón

et al. 2016

Paladyn, Journal of Behavioral Robotics

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“…As in previous work by the same authors [8], a noise was added to the user input, according to Equation (3). This was Gaussian noise, low-pass filtered at 2 Hz and generated independently for each Cartesian component of the noise vector ( z = [z x , z z , z pitch , z yaw ] T ).…”

Section: B Simulated Disabilitymentioning

confidence: 99%

“…The ASIBOT robot was simulated to be attached to the righthand side of the user's wheelchair. Implementing the system first in simulation provided a flexible and easily controllable environment for including human trials actively in the development process [8]. The tasks performed involved moving the end-effector of the robot from an initial resting position to a pre-grasp position around one of 5 simulated cans in the virtual environment.…”

Section: Simulated Environment and Tasksmentioning

confidence: 99%

“…The sensor and action spaces of such manipulators can be large, and exact models of the environment and their relation to every part of the robot can be hard to obtain and maintain. Distributed proximity sensing can help simplify the problem (and reduce the algorithmic complexity), see for example previous work by the authors on an adaptive proximity-based collision-limitation behavior [8]. This is here developed further and extended to a complete assistive manipulator.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive collision-limitation behavior for an assistive manipulator

Stoelen

Tejada

Victores

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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An approach for adaptive shared control of an assistive manipulator is presented. A set of distributed collision and proximity sensors is used to aid in limiting collisions during direct control by the disabled user. Artificial neural networks adapt the use of the proximity sensors online, which limits movements in the direction of an obstacle before a collision occurs. The system learns by associating the different proximity sensors to the collision sensors where collisions are detected. This enables the user and the robot to adapt simultaneously and in real-time, with the objective of converging on a usage of the proximity sensors that increases performance for a given user, robot implementation and task-set. The system was tested in a controlled setting with a simulated 5 DOF assistive manipulator and showed promising reductions in the mean time on simplified manipulation tasks. It extends earlier work by showing that the approach can be applied to full multi-link manipulators.

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