Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping

Lin, Tsung-Chi; Krishnan, Achyuthan Unni; Li, Zhi

doi:10.1109/icra40945.2020.9197220

Cited by 18 publications

(8 citation statements)

References 34 publications

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“…Assistive robotics gained a lot of traction in offering domestic assistance for the physically impaired. Recent studies have shown that the use of shared autonomy reduces the physical and mental workload involved in robot teleoperation [16] resulting in a preference towards shared autonomy in performing ADLs. 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].…”

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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Section: Background and Related Workmentioning

confidence: 99%

Assistive Robot Teleoperation Using Behavior Trees

Behery¹,

Trinh²,

Brecher³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…For the performance analyses, on the other hand, different criteria and interpretations are investigated by the researchers. For instance, in [11], the authors investigated the effects of shared autonomy on the user's physical workload during a whole-body motionmapping teleoperation of a complex robot based on their previous studies on the muscles' fatigue [12]. As a result, they reported better user experience and task performance, which are justified by a set of subjective and objective indices.…”

Section: A Related Workmentioning

confidence: 99%

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

Gholami

Tassi

Momi

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Prolonged remote tele-locomanipulation of multi degrees-of-freedom mobile manipulators requires a compromise between the system's performance and the operator's ergonomics. Neglecting this demand can significantly affect either the task completion or the level of comfort to achieve it. However, the simultaneous consideration of these key factors has received less attention in the literature. To respond to this demand, in this work, we introduce a new teleoperation setup, which integrates the features of an ergonomic and a highly maneuverable interface into a unified solution. The ergonomic part of the interface implements a 3D mouse-like functionality, enabling the execution of long navigation tasks for the floating base. The highly manoeuvrable interface instead, enables the operator to perform dynamic or more precise manipulation by moving his/her arm in space. The locomotion and manipulation modes of the follower robot are controlled separately, which can be easily and seamlessly switched by the operator by pressing a button at any moment. Furthermore, due to the follower manipulator's redundancy, this robot is controlled by a hierarchical quadratic programming technique which enables the definition of a set of secondary tasks to be executed in the robot's nullspace. Finally, to demonstrate the advantages and disadvantages of the proposed user interfaces, five participants are asked to perform two different experiments: (i) target selection task on a moving surface and (ii) remote path tracking on a fixed surface. The quantitative and qualitative analyses show the effectiveness of the proposed interface during the teleoperation tasks, especially when it comes to the precise and dynamic task execution.

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“…T ELEROBOTICS is of significant importance in applications where the tasks are dangerous or even inaccessible to humans. So far, the related theoretical and experimental research studies have mainly focused on the overall system's safety (e.g., stability [1]), tracking problem (e.g., transparency [2]), interaction uncertainties (e.g., tele-impedance regulation [3]), and shared autonomy [4].…”

Section: Introductionmentioning

confidence: 99%

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

Gholami¹,

Lorenzini

Momi

et al. 2022

IEEE Trans. Human-Mach. Syst.

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Human factors and ergonomics are the essential constituents of teleoperation interfaces, which can significantly affect the human operator's performance. Thus, a quantitative evaluation of these elements and the ability to establish reliable comparison bases for different teleoperation interfaces are the keys to select the most suitable one for a particular application. However, most of the works on teleoperation have so far focused on the stability analysis and the transparency improvement of these systems, and do not cover the important usability aspects. In this work, we propose a foundation to build a general framework for the analysis of human factors and ergonomics in employing diverse teleoperation interfaces. The proposed framework will go beyond the traditional subjective analyses of usability by complementing it with online measurements of the human body configurations. As a result, multiple quantitative metrics such as joints' usage, range of motion comfort, center of mass divergence, and posture comfort are introduced. To demonstrate the potential of the proposed framework, two different teleoperation interfaces are considered, and real-world experiments with eleven participants performing a simulated industrial remote pick-andplace task are conducted. The quantitative results of this analysis are provided, and compared with subjective questionnaires, illustrating the effectiveness of the proposed framework.

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Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping

Cited by 18 publications

References 34 publications

Assistive Robot Teleoperation Using Behavior Trees

Assistive Robot Teleoperation Using Behavior Trees

A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

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