Experiments of Direct and Indirect Haptic Aiding for Remotely Piloted Vehicles with a Mixed Wind Gust Rejection/Obstacle Avoidance Task

Alaimo, Samantha M. C.; Pollini, Lorenzo; Bülthoff, HH

doi:10.2514/6.2011-6242

Cited by 4 publications

(3 citation statements)

References 8 publications

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“…In previous studies, the use of haptic cues based on DHA and IHA has shown beneficial effects in terms of pilot performance [8,17]. The question arises as to how pilots can take advantage of two haptic aids that actually feed forces opposite in sign into the control loop.…”

Section: Modeling and Identification Of Pilot Control Behaviormentioning

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%

“…Two different approaches have been proposed for designing the haptic aid: the direct haptic aid (DHA) and the indirect haptic aid (IHA) [16]. The DHA and IHA approaches are different in nature; however, both showed beneficial effects in terms of pilot performance [17]. This indicates that pilots are able to modify their control strategy in order to take advantage of both DHA and IHA approaches.…”

Section: Introductionmentioning

confidence: 98%

See 2 more Smart Citations

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: Modeling and Identification Of Pilot Control Behaviormentioning

confidence: 98%

Section: B Iha Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

See 1 more Smart Citation

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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A Visual-Haptic Display for Human and Autonomous Systems Integration

Razzanelli

Aringhieri

Franzini

et al. 2016

Modelling and Simulation for Autonomous Systems

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This paper introduces a novel concept of visual-haptic display for situational awareness improvement for crowded and low altitude airspace situations. It presents first the visual augmentation display that constitutes of Virtual Fences delimiting no-fly zones, and a specific threei-dimensional highlight graphics that enhances visibility of other autonomous (or not) agents in the area. Then it presents the shared control paradigm and the Haptic Force generation mechanism, based on a\ud Proportional-Derivative-like controller applied to repulsive forces generated by the Virtual Fences and other UAVs. Simulations with 26 pilots were performed in a photo-realistic synthetic environment showing that the Visual-haptic Display outperforms the Visual Display only at helping the pilot keeping distance from no-\ud fly zones and other vehicles

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Direct and Indirect Haptic Aiding for Curve Negotiation

Profumo

Pollini

Abbink

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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Haptic technology has become a viable way to support operators in vehicular control. This paper investigates two different design philosophies for continuous haptic feedback to support drivers with curve negotiation. The first system, 'direct haptic assistance', is designed to yield best results when the driver gives way to the guidance forces on the steering wheel. The second, 'indirect haptic assistance', is designed to yield best results when the driver counter-acts the forces. The two designs were compared in a driving simulator experiment in which 27 subjects participated. Results show that both systems are helpful in case of low visibility, where the driver lacks sufficient preview of the curves. With normal visibility no improvements on performance were found, for either system. Further experiments are required to investigate the difference between the two approaches

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Experiments of Direct and Indirect Haptic Aiding for Remotely Piloted Vehicles with a Mixed Wind Gust Rejection/Obstacle Avoidance Task

Cited by 4 publications

References 8 publications

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

Pilot Adaptation to Different Classes of Haptic Aids in Tracking Tasks

A Visual-Haptic Display for Human and Autonomous Systems Integration

Direct and Indirect Haptic Aiding for Curve Negotiation

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