Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation

Zhang, Dawei; Tron, Roberto; Khurshid, Rebecca P.

doi:10.1109/icra48506.2021.9560991

Cited by 15 publications

(9 citation statements)

References 24 publications

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“…This haptic shared control concept leverages the strengths of the human operator's knowledge of the task requirements and subsequently utilizes this experience in tuning the autonomous controller. This finding is in line with the stated benefits of haptic shared control in other human-machine interaction paradigms such as semi-autonomous vehicles and teleoperation 35,36 .…”

Section: Discussionsupporting

confidence: 86%

“…Control approaches that arbitrate between haptically-guided human control and autonomous control can be described as haptic shared control. Similar techniques have been incorporated in automotive applications, where haptic feedback from the autonomous system guides the driver during navigation [33][34][35][36][37] . In this manuscript, we explore the utility of a haptic shared control scheme for an upper-limb prosthesis.…”

Section: Introductionmentioning

confidence: 99%

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Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

Thomas,

Miller,

Ayaz

et al. 2022

Preprint

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Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing the prosthesis with autonomous control authority have been separately shown to improve prosthesis utility. Few studies, however, have investigated the effect of combining these two approaches in a shared control paradigm, and none have evaluated such an approach from the perspective of neural efficiency (the relationship between task performance and mental effort measured directly from the brain). In this work, we analyzed the neural efficiency of 30 non-amputee participants in a grasp-and-lift task of a brittle object. Here, a myoelectric prosthesis featuring vibrotactile feedback of grip force and autonomous control of grasping was compared with a standard myoelectric prosthesis with and without vibrotactile feedback. As a measure of mental effort, we captured the prefrontal cortex activity changes using functional near infrared spectroscopy during the experiment. Results showed that only the haptic shared control system enabled users to achieve high neural efficiency, and that vibrotactile feedback was important for grasping with the appropriate grip force. These results indicate that the haptic shared control system synergistically combines the benefits of haptic feedback and autonomous controllers, and is well-poised to inform such hybrid advancements in myoelectric prosthesis technology.

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Section: Discussionsupporting

confidence: 86%

Section: Introductionmentioning

confidence: 99%

Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

Thomas,

Miller,

Ayaz

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…The use of the brittle object in this experiment highlights the need for advanced control schemes in prostheses, given that only the haptic shared control outperformed the standard prosthesis in terms of more appropriate grasp forces, successful lifts, and improved neural efficiency. This finding aligns with the stated benefits of haptic shared control in other human-machine interaction paradigms such as semi-autonomous vehicles and teleoperation 35,36 .…”

Section: Discussionsupporting

confidence: 85%

“…In turn, the autonomous controller could learn the human's successful volitional control strategies and replicate it in subsequent manipulations, thus improving task performance and reducing cognitive effort.Control approaches that arbitrate between haptically-guided human control and autonomous control can be described as haptic shared control. Haptic shared control techniques, for example, have been incorporated in automotive applications, where haptic feedback from the autonomous system guides the driver during navigation [33][34][35][36][37] . In our prior work, we developed a haptic shared control approach for an upper limb prosthesis and investigated its task performance utility in a dexterous reach-to-pick-and-place task without direct vision 38 .…”

mentioning

confidence: 99%

Haptic shared control improves neural efficiency during myoelectric prosthesis use

Thomas

Miller

Ayaz

et al. 2023

Sci Rep

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Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing the prosthesis with autonomous control authority have been separately shown to improve prosthesis utility. Few studies, however, have investigated the effect of combining these two approaches in a shared control paradigm, and none have evaluated such an approach from the perspective of neural efficiency (the relationship between task performance and mental effort measured directly from the brain). In this work, we analyzed the neural efficiency of 30 non-amputee participants in a grasp-and-lift task of a brittle object. Here, a myoelectric prosthesis featuring vibrotactile feedback of grip force and autonomous control of grasping was compared with a standard myoelectric prosthesis with and without vibrotactile feedback. As a measure of mental effort, we captured the prefrontal cortex activity changes using functional near infrared spectroscopy during the experiment. It was expected that the prosthesis with haptic shared control would improve both task performance and mental effort compared to the standard prosthesis. Results showed that only the haptic shared control system enabled users to achieve high neural efficiency, and that vibrotactile feedback was important for grasping with the appropriate grip force. These results indicate that the haptic shared control system synergistically combines the benefits of haptic feedback and autonomous controllers, and is well-poised to inform such hybrid advancements in myoelectric prosthesis technology.

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“…However, most approaches focus on the usability during task performance as well as the integration with the Whole Body Control [3,4,8] and switching between shared autonomy and direct user control [7]. The focus on usability is restricted on reducing the mental effort of teleoperation either by using haptic feedback [17] or using motion prediction to generate more intuitive trajectories [6].…”

Section: Background and Related Workmentioning

confidence: 99%

Assistive Robot Teleoperation Using Behavior Trees

Behery¹,

Trinh²,

Brecher³

et al. 2023

Preprint

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Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environments. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoiding obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution. CCS CONCEPTS• Human-centered computing → User interface programming; HCI theory, concepts and models.

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Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation

Cited by 15 publications

References 24 publications

Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

Haptic shared control improves neural efficiency during myoelectric prosthesis use

Assistive Robot Teleoperation Using Behavior Trees

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