Haptic Foot Pedal: Influence of Shoe Type, Age, and Gender on Subjective Pulse Perception

Geitner, Claudia; Birrell, Stewart A.; Krehl, Claudia; Jennings, Paul

doi:10.1177/0018720818771906

Cited by 5 publications

(3 citation statements)

References 26 publications

(49 reference statements)

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“…In that respect, the main requirement in the design of the platform is to have enough torques and forces to generate a wrench that is able to meet the gravity torques of the leg, as well as to render perceivable forces for foot haptics (c.f. [31]- [34]). The maximum torques of a person with 120 kg body mass were considered.…”

Section: A Requirements and Specificationsmentioning

confidence: 99%

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Sanchez

Amanhoud

Billard

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as required for precise use of instruments. We developed a haptic foot interface to provide continuous assistance in surgical procedures. This paper concerns the foot control of simultaneous five degrees of freedom (DoF) of a surgical laparoscopic gripper. We assess systematically precision at controlling position and orientation at the target and closing of the forceps. Our controller provides position:position mapping between the foot and the robotic tool, as well as haptic feedback, compensating for gravity of the lower limb of the operator so as to alleviate fatigue. A dynamic model compensation and closed loop force feedback is used to achieve high transparency and backdrivability. The assistance is based on a novel type of haptic fixtures combining spring-damper with selective dynamic compensation in the direction aligned with the task of grasping, so as to simplify control of certain poses, made difficult due to the coupling between human lower limbs' DoF's. We experimentally evaluated the control strategy with six users on a position control surgical task in simulation. Results show the proposed assistance greatly eases the foot grasping task leading to higher completeness, efficiency, and lower mental and physical load.

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Section: A Requirements and Specificationsmentioning

confidence: 99%

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Sanchez

Amanhoud

Billard

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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“…All these gains were experimentally tuned for the comfort of the user, based on an exploratory study of two people (both males, aged 26:560:5), to be uniform across control strategies. Furthermore, the range of forces we allowed to reflect at the level of the feet was chosen carefully based on findings from related works for adequate perception and to avoid startling the user (Abbink and van der Helm, 2004;Geitner et al, 2018;Ichinose et al, 2013).…”

Section: Experimental Setup and Taskmentioning

confidence: 99%

Contact-initiated shared control strategies for four-arm supernumerary manipulation with foot interfaces

Amanhoud

Sanchez

Bouri

et al. 2021

The International Journal of Robotics Research

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In industrial or surgical settings, to achieve many tasks successfully, at least two people are needed. To this end, robotic assistance could be used to enable a single person to perform such tasks alone, with the help of robots through direct, shared, or autonomous control. We are interested in four-arm manipulation scenarios, where both feet are used to control two robotic arms via bi-pedal haptic interfaces. The robotic arms complement the tasks of the biological arms, for instance, in supporting and moving an object while working on it (using both hands). To reduce fatigue, cognitive workload, and to ease the execution of the foot manipulation, we propose two types of assistance that can be enabled upon contact with the object (i.e., based on the interaction forces): autonomous-contact force generation and auto-coordination of the robotic arms. The latter relates to controlling both arms with a single foot, once the object is grasped. We designed four (shared) control strategies that are derived from the combinations (absence/presence) of both assistance modalities, and we compared them through a user study (with 12 participants) on a four-arm manipulation task. The results show that force assistance positively improves human–robot fluency in the four-arm task, the ease of use and usefulness; it also reduces the fatigue. Finally, to make the dual-assistance approach the preferred and most successful among the proposed control strategies, delegating the grasping force to the robotic arms is a crucial factor when controlling them both with a single foot.

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“…Hence these additional criteria were also selected to be subjective rated in this study. A similar questionnaire with a seven-point rating scale was used by the authors in a previously published study (Geitner, Birrell, Krehl, and Jennings, 2018) and by (Brown, 2005).…”

Section: Apparatusmentioning

confidence: 99%

The comparison of auditory, tactile, and multimodal warnings for the effective communication of unexpected events during an automated driving scenario

Geitner

Biondi

Skrypchuk

et al. 2019

Transportation Research Part F: Traffic Psychology and Behaviou

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Haptic Foot Pedal: Influence of Shoe Type, Age, and Gender on Subjective Pulse Perception

Abstract: Findings from this study can be applied to the design of an accelerator pedal in a car, for example, for a nonvisual in-vehicle warning, but also to plan user studies with a haptic pedal in general.

Cited by 5 publications

References 26 publications

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Contact-initiated shared control strategies for four-arm supernumerary manipulation with foot interfaces

The comparison of auditory, tactile, and multimodal warnings for the effective communication of unexpected events during an automated driving scenario

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