The interaction of robot teams and single human in teleoperation scenarios is beneficial in cooperative tasks, for example the manipulation of heavy and large objects in remote or dangerous environments. The main control challenge of the interaction is its asymmetry, arising because robot teams have a relatively high number of controllable degrees of freedom compared to the human operator. Therefore, we propose a control scheme that establishes the interaction on spaces of reduced dimensionality taking into account the low number of human command and feedback signals imposed by haptic devices. We evaluate the suitability of wearable haptic fingertip devices for multi-contact teleoperation in a user study. The results show that the proposed control approach is appropriate for human-robot team interaction and that the wearable haptic fingertip devices provide suitable assistance in cooperative manipulation tasks.


    Access

    Download


    Export, share and cite



    Title :

    Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation



    Publication date :

    2019-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    A fabric-based approach for wearable haptics

    BIANCHI, MATTEO | BASE | 2016

    Free access

    Shared control for human–robot team interaction

    Musić, Selma | TIBKAT | 2021

    Free access

    Haptics in Robot-Assisted Surgery: Challenges and Benefits

    ENAYATI, NIMA / DE MOMI, ELENA / FERRIGNO, GIANCARLO | BASE | 2016

    Free access


    Seat haptics

    YAMAMOTO STUART MASAKAZU / ALEQUIN JOSEPH ANTHONY / OCHAVILLO HARTLEY | European Patent Office | 2021

    Free access