Effect of virtual fixture compliance on human-machine cooperative manipulation

Marayong, Panadda; Bettini, A.; Okamura, Allison M.

doi:10.1109/irds.2002.1043876

Cited by 50 publications

(51 citation statements)

References 8 publications

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“…Since then, research on this topic has proposed a great variety of methods for assistance, ranging from the robot having full control over all or some aspect of the motion [1]- [6], [10], [11], to taking control (or releasing it) at some trigger [9], [13], [20], to never fully taking control [4], [6]- [8], [14]. For example, Debus et al [3] propose that the robot should be in full control of the orientation of a cylinder while the user is inserting it into a socket.…”

Section: Prior Workmentioning

confidence: 99%

“…Virtual fixture-based methods (e.g. [6], [12]- [14]) that are commonly used to guide the user along a predefined path become blends of the user input with a policy that projects this input onto the path. The arbitration function dictates the intensity of the fixture at every step, corresponding to a normalized "stiffness/compliance" gain.…”

Section: Prior Workmentioning

confidence: 99%

“…II) compared more manual vs. more autonomous assistance modes [4]- [6] with surprisingly conflicting results in terms of what users prefer. Rather than using autonomy as a factor, we introduce aggressiveness: arbitration should be moderated by the robot's confidence in the prediction, leading to a spectrum from very timid to very aggressive assistance, from small augmentation of user input even when confident to large augmentation even when unsure.…”

Section: Introductionmentioning

confidence: 99%

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Formalizing Assistive Teleoperation

Dragan

Srinivasa

2012

Robotics: Science and Systems VIII

107

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Abstract-In assistive teleoperation, the robot helps the user accomplish the desired task, making teleoperation easier and more seamless. Rather than simply executing the user's input, which is hindered by the inadequacies of the interface, the robot attempts to predict the user's intent, and assists in accomplishing it. In this work, we are interested in the scientific underpinnings of assistance: we formalize assistance under the general framework of policy blending, show how previous work methods instantiate this formalism, and provide a principled analysis of its main components: prediction of user intent and its arbitration with the user input. We define the prediction problem, with foundations in Inverse Reinforcement Learning, discuss simplifying assumptions that make it tractable, and test these on data from users teleoperating a robotic manipulator under various circumstances. We propose that arbitration should be moderated by the confidence in the prediction. Our user study analyzes the effect of the arbitration type, together with the prediction correctness and the task difficulty, on the performance of assistance and the preferences of users.

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Section: Prior Workmentioning

confidence: 99%

Section: Prior Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Formalizing Assistive Teleoperation

Dragan

Srinivasa

2012

Robotics: Science and Systems VIII

107

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show abstract

“…In an impedance-type virtual fixture scheme, the haptic force is proportional to the difference between the actual and desired positions at the slave end-effector, and its direction is orthogonal to the intended trajectory of the haptic device [30][31][32] . No information about the position of the slave is used in virtual fixture scheme.…”

Section: Introductionmentioning

confidence: 99%

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: A pilot study

Maddahi

Liao

Fung

et al. 2016

Robotics and Autonomous Systems

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“…proximity or navigation cues. Virtual fixtures as described by Abbott, Marayong and Okamura (2007) and Marayong et al (2002) are also a type of SCS.…”

Section: Haptic Feedback Systems In Medical Applicationsmentioning

confidence: 99%

Control of haptic interaction : an energy-based approach

Franken¹

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Effect of virtual fixture compliance on human-machine cooperative manipulation

Cited by 50 publications

References 8 publications

Formalizing Assistive Teleoperation

Formalizing Assistive Teleoperation

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: A pilot study

Control of haptic interaction : an energy-based approach

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