Evaluation of a predictive approach in steering the human locomotion via haptic feedback

Abstract

In this paper, we present a haptic guidance policy\ud to steer the user along predefined paths, and we evaluate\ud a predictive approach to compensate actuation delays that\ud humans have when they are guided along a given trajectory\ud via sensory stimuli. The proposed navigation policy exploits\ud the nonholonomic nature of human locomotion in goal directed\ud paths, which leads to a very simple guidance mechanism.\ud The proposed method has been evaluated in a real scenario\ud where seven human subjects were asked to walk along a set of\ud predefined paths, and were guided via vibrotactile cues. Their\ud poses as well as the related distances from the path have been\ud recorded using an accurate optical tracking system. Results\ud revealed that an average error of 0.24 m is achieved by using\ud the proposed haptic policy, and that the predictive approach\ud does not bring significant improvements to the path following\ud problem for what concerns the distance error. On the contrary,\ud the predictive approach achieved a definitely lower activation\ud time of the haptic interfaces

Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments

“…With the connectivity of the team guaranteed by the above control technique, we want to guide the human agent towards the goal. Recent studies show that the kinematics of the human locomotion resembles that of a unicycle robot [25], and that it is possible to provide the human user with guidance along a predefined path using tactile feedback [26]. Of course, although we can guide human agents with high accuracy [26], deviations from the commanded path will inevitably occur.…”

“…Recent studies show that the kinematics of the human locomotion resembles that of a unicycle robot [25], and that it is possible to provide the human user with guidance along a predefined path using tactile feedback [26]. Of course, although we can guide human agents with high accuracy [26], deviations from the commanded path will inevitably occur. These deviations can be due to users not being able to fully understand and/or react to the haptic guidance, or due to users willingly moving away from the path because of unforeseen circumstances (e.g., unexpected obstacles blocking the indicated path).…”

Haptic Guidance in Dynamic Environments Using Optimal Reciprocal Collision Avoidance

“…A path planning algorithm generated suitable directional clues to to avoid collisions with static and dynamic obstacles. Vibrotactile armbands were used to navigate subjects along fixed paths using three haptic stimuli: Turn left, turn right, slow down, [4]. No dynamic obstacles were considered by the authors.…”

“…(1)). Since three stimuli (turn left, turn right, and go straight) have been demonstrated to be intuitive and effective in guiding users along path [4], it is necessary to find the relationship between the proposed three stimuli and the angular velocity of the users. That is, we need to find the amount of angular velocity that the users apply when they perceive the proposed haptic stimuli.…”

Haptically assisted chemotaxis for odor source localization

“…Both tactile and olfactory interactions have been studied separately in navigation-related research. Haptic devices can communicate by applying vibration or static forces to the skin [2] and have been used in assisted navigation [3,9,58]. Examples include the search for enhanced usability in teleoperated robots [37,63], the use of shapechanging haptic interfaces to help pedestrians [59] or vibrotactile actuated belts for soldiers [20] and the visually impaired [29].…”