Design issues of mobile haptic interfaces

Nitzsche, Norbert; Hanebeck, Uwe D.; Schmidt, G.

doi:10.1002/rob.10105

Cited by 42 publications

(32 citation statements)

References 15 publications

(10 reference statements)

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“…The control gains in (22) are tuned to achieve a smoothly-damped, spring-like following behavior of the platform that keeps the manipulator within its workspace bounds during mobile manipulation. The resulting motion commandẋ R b is then executed by an omni-directional velocity control law as proposed in Nitzsche et al (2003). …”

Section: Admittance-type Force Controlmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

248

176

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Since strict separation of working spaces of humans and robots experiences a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired behavior is a combination of an urge to fulfill the task, a smooth instant reactive behavior to human force inputs and an assignment of the task effort to the cooperating agents. In this paper, a formal analysis of human-robot cooperative load transport is presented. Three different possibilities for the assignment of task effort are proposed. Two proposed dynamic role exchange mechanisms adjust the robot's urge to complete the task based on the human feedback. For comparison, a static role allocation strategy not relying on the human agreement feedback is proposed as well. All three role allocation mechanisms are evaluated in a user study that involves large-scale kinesthetic interaction and full-body human motion. Results show tradeoffs between subjective and objective performance measures stating a clear objective advantage of the proposed dynamic role allocation scheme.

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Section: Admittance-type Force Controlmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

248

176

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“…A potential solution to the limited workspace problem is offered by Mobile Haptic Interfaces (MHIs, [25,26]). These human-sized interfaces combine a mobile base with a limitedworkspace haptic device and follow the locomotion of the operator (thus extending the workspace to the entire walkable floor) in industrial teleoperation and virtual space exploration scenarios.…”

Section: Related Workmentioning

confidence: 99%

Haptic-Enabled Handheld Mobile Robots

Özgür

Johal

Mondada

et al. 2017

Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems

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The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonomous motion and act as tangible interfaces, but are also usable as haptic devices in order to exploit, for instance, kinesthetic learning. In this article, we present the design and analysis of the haptic interaction module of the Cellulo robots. We first detail our hardware and controller design that is low-cost and versatile. Then, we describe the task-based experimental procedure to evaluate the robot's haptic abilities. We show that our robot is usable in most of the tested tasks and extract perceptive and manipulative guidelines for the design of haptic elements to be integrated in future learning activities. We conclude with limitations of the system and future work.

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“…A reference pose of the end-effector R x d is chosen to meet certain requirements regarding task-related manipulability. The resulting motion command Rẋ b is then executed by an omni-directional velocity control law as proposed in [14].…”

Section: Rẋ Bmentioning

confidence: 99%

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

Medina

Lawitzky

Mörtl

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns semantic task structures during joint task execution using hierarchically clustered Hidden Markov Models. A semantic labeling of recognized task segments is acquired from the human partner through speech. After a small number of repetitions, the robot uses an anticipated task progress to generate a feed-forward set point for an admittance feedback control scheme. This paper describes the framework and its implementation on a mobile bi-manual platform. The evolution of the robot's task knowledge is presented and discussed. Finally, the cooperation quality is measured in terms of the robot's task contribution.

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Design issues of mobile haptic interfaces

Cited by 42 publications

References 15 publications

The role of roles: Physical cooperation between humans and robots

The role of roles: Physical cooperation between humans and robots

Haptic-Enabled Handheld Mobile Robots

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

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