Evaluation of Direct and Indirect Haptic Aiding in an Obstacle Avoidance Task for Tele-Operated Systems

Alaimo, Samantha M. C.; Pollini, Lorenzo; Bresciani, Jean‐Pierre; Bülthoff, HH

doi:10.3182/20110828-6-it-1002.02790

Cited by 12 publications

(7 citation statements)

References 11 publications

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“…It is clearly unwise to insert a possibly destabilizing component in the control loop. To overcome this issue, the neutral point of the control device is shifted according to the current force provided by the IHA system, so that the actual control command to the aircraft is zero when the pilot does not interact with the control device [32,33]. This allows the IHA system to provide sensations to the pilot (via the stick motion) without having an effect on the actual command given to the aircraft.…”

Section: B Iha Approachmentioning

confidence: 98%

“…By opposing the disturbance on the control device, pilots were able to reject the wind gust and control the trajectory of the controlled element. In other cases dealing with obstacle avoidance or with trajectory tracking, IHA systems were derived from a DHA system designed for the same goal by simply reversing the sign of the generated force [17,20,31,32]. The operator had to oppose the forces given by IHA to achieve the task also in these cases.…”

Section: B Iha Approachmentioning

confidence: 99%

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Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Olivari

Nieuwenhuizen

Bülthoff

et al. 2014

Journal of Guidance, Control, and Dynamics

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Haptic aids have been largely used in manual control tasks to complement the visual information through the sense of touch. To analytically design a haptic aid, adequate knowledge is needed about how pilots adapt their visual response and the biomechanical properties of their arm (i.e., admittance) to a generic haptic aid. In this work, two different haptic aids, a direct haptic aid and an indirect haptic aid, are designed for a target tracking task, with the aim of investigating the pilot response to these aids. The direct haptic aid provides forces on the control device that suggest the right control action to the pilot, whereas the indirect haptic aid provides forces opposite in sign with respect to the direct haptic aid. The direct haptic aid and the indirect haptic aid were tested in an experimental setup with nonpilot participants and compared to a condition without haptic support. It was found that control performance improved with haptic aids. Participants significantly adapted both their admittance and visual response to fully exploit the haptic aids. They were more compliant with the direct haptic aid force, whereas they showed stiffer neuromuscular settings with the indirect haptic aid, as this approach required opposing the haptic forces

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Section: B Iha Approachmentioning

confidence: 98%

Section: B Iha Approachmentioning

confidence: 99%

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Olivari

Nieuwenhuizen

Bülthoff

et al. 2014

Journal of Guidance, Control, and Dynamics

Self Cite

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show abstract

“…the Omega Device actual behavior, with the added stiffness and damping control loops, was different from what theoretically expected, thus its dynamics was identified using frequency sweeps (from 0.0262 to 10 Hz) and the Empirical Transfer Function Estimate (ETFE) technique. 16 The resulting transfer function OD i,y (s) is shown in Equation (8).…”

Section: Omega Device Dynamic Modelmentioning

confidence: 99%

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Alaimo¹,

Pollini

Bülthoff³

2011

AIAA Modeling and Simulation Technologies Conference

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The paper focuses on the implementation of an admittance based control scheme in a bilateral teleoperation set-up for an Unmanned Aerial Vehicle (UAV) under time delay. The goal of this study is to assess and improve the stability characteristics of the bilateral teleoperator. Computer simulations were conducted to evaluate the effectiveness of the admittance-based control scheme. A commercial impedance-like haptic device was chosen to simulate the control stick: the master device. The slave system is constituted by the dynamics of the aircraft under control; in order to maximize the pilot attention on its task, only the lateral aircraft dynamics was considered. A virtual environment was displayed during the experiments to produce the visual cues. In order to evaluate the system, we prepared a control task where the aircraft had to be flown in a virtual urban canyon with buildings placed irregularly (non Manhattan-like) along the desired path by avoiding the collisions with them. A repulsive force field was associated to the obstacles and a force was sent back to the operator through the communication link. A compensator capable of flying autonomously the aircraft through the buildings with satisfactory performance was designed first using linear techniques then the haptic augmentation system was derived from the compensator by splitting it in two parts: the actual haptic cueing for the pilot and the simulated the pilot effort. The latter component was used only for the preliminary assessment of the system and was removed in simulations where a real pilot operated the stick (the master device). Experimental results and analytical motivations as well have shown that a haptic force which is simply proportional to the distance from the obstacles cannot stabilize the system: a relevant anticipatory effect or phase lead (as the derivative effect of standard industrial controllers) is needed. In order to manage the degradation of performance and overall stability when a delay is present in the communication paths, an admittance-based controller was designed together with an observer for the force generated by the human operator on the stick. The admittance-based Force Position teleoperation scheme was shown by simulations and tests with real pilots to improve the performance of the system under consideration

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“…T he teleoperation of an aerial vehicle is a very complex task, and the use of haptic feedback on the control stick for complementing the visual information has been shown to improve the pilot performance. 1,2,3 Pilots use the haptic aid to adapt their control behaviour in order to increase their performance.…”

Section: Introductionmentioning

confidence: 99%

Multi-loop Pilot Behavior Identification in Response to Simultaneous Visual and Haptic Stimuli

Olivari

Nieuwenhuizen

Venrooij

et al. 2012

AIAA Modeling and Simulation Technologies Conference

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The goal of this paper is to better understand how the neuromuscular system of a pilot, or more generally an operator, adapts itself to different types of haptic aids during a pitch control task. A multi-loop pilot model, capable of describing the human behaviour during a tracking task, is presented. Three different identification techniques were investigated in order to simultaneously identify neuromuscular admittance and the visual response of a human pilot. In one of them, the various frequency response functions that build up the pilot model are identified using multi-inputs linear time-invariant models in ARX form. A second method makes use of cross-spectral densities and diagram block algebra to obtain the desired frequency response estimates. The identification techniques were validated using Monte Carlo simulations of a closed-loop control task. Both techniques were compared with the results of another identification method well known in literature and based on crossspectral density estimates. All those methods were applied in an experimental setup in which pilots performed a pitch control task with different haptic aids. Two different haptic aids for tracking task are presented, a Direct Haptic Aid and an Indirect Haptic Aid. The two haptic aids were compared with a baseline condition in which no haptic force was used. The data obtained with the proposed method provide insight in how the pilot adapts his control behavior in relation to different haptic feedback schemes. From the experimental results it can be concluded that humans adapt their neuromuscular admittance in relation with different haptic aids. Furthermore, the two new identification techniques seemed to give more reliable admittance estimates.

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Evaluation of Direct and Indirect Haptic Aiding in an Obstacle Avoidance Task for Tele-Operated Systems

Cited by 12 publications

References 11 publications

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Multi-loop Pilot Behavior Identification in Response to Simultaneous Visual and Haptic Stimuli

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