Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration

Abstract

Construction robot telegrasping operation provides considerable challenges in postdisaster recovery missions. This paper presents an evaluation of construction robot telegrasping force perception, which integrates the use of visual, auditory and force feedback systems. The integration of graphically-presented feedback force is proposed to help operators visually monitor changes in grasping force. Auditory feedback is used simultaneously to provide rapid warnings, while force feedback enhances grasping sense. Sensitivity to each type of feedback is measured by using psychophysical tests, and manipulation tests are conducted to observe effects on the gripping risk index, task completion time and subjective workload. Results validate the need for multimodal sensory feedback, for accurately controlling the grasping process, and for avoiding unnecessary action due to human error.

Development of a Teleoperation System for a Construction Robot

“…We propose a variable-gain symmetric-position control in order to robustly obtain a reaction force when grasping objects of different hardnesses. We also propose control methods based on the reaction force [3,4], in order to allow the operator to experience a reasonable sense of grasping objects.…”

Earthmoving Construction Automation with Military Applications: Past, Present and Future

“…The research was verified by simulation and experiments, confirming the validity of the control system. Later, Yusof et al (2012) conducted studies on operator sensitivity to various modalities, where the perception of the operator for each type of feedback was evaluated by using common 2D, 3D and virtual visual feedback [20]. Precision grasping was also being tested by using auditory feedback, along with force feedback [21].…”

Position Control Mathematical Modelling and Operational Evaluation of Tele-Operated Electro-Hydraulic Actuator (T-EHA)

“…The T-EHA is used to undertake accurate positioning of the load at the required actuator stroke within the operating range of the teleoperation. Such position-controlled tele-operation will require the operator to rely on the feedback displacement of the actuator [6,7]. At this moment, the operational evaluation is based on direct visual feedback during tele-operation [8,9,10].…”