Teleoperation of a mobile robot through haptic feedback

Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation

ACM Transactions on Human-Robot Interaction ◽

10.1145/3243503 ◽

2018 ◽

Vol 7 (3) ◽

pp. 1-23 ◽

Cited By ~ 1

Author(s):

Yuhang Che ◽

Heather Culbertson ◽

Chih-Wei Tang ◽

Sudipto Aich ◽

Allison M. Okamura

Keyword(s):

Mobile Robot ◽

Haptic Feedback ◽

Robot Communication

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Haptic Teleoperation of a Mobile Robot: A User Study

Presence Teleoperators & Virtual Environments ◽

10.1162/105474605323384681 ◽

2005 ◽

Vol 14 (3) ◽

pp. 345-365 ◽

Cited By ~ 49

Author(s):

Sangyoon Lee ◽

Gaurav Sukhatme ◽

Gerard Jounghyun Kim ◽

Chan-Mo Park

Keyword(s):

Mobile Robot ◽

Obstacle Avoidance ◽

Minimum Distance ◽

User Study ◽

Haptic Feedback ◽

Haptic Information ◽

Operator Performance ◽

Shared Autonomy ◽

Close Range

The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.

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A Stable Tele-operation of a Mobile Robot with the Haptic Feedback

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2018.11.511 ◽

2018 ◽

Vol 51 (22) ◽

pp. 13-18

Author(s):

Jangmyung Lee ◽

Hanuel Yoon ◽

Donghyuk Lee

Keyword(s):

Mobile Robot ◽

Haptic Feedback

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A Study on Teleoperation of a Mobile Robot Using Haptic Feedback

Advanced Engineering Forum ◽

10.4028/www.scientific.net/aef.2-3.408 ◽

2011 ◽

Vol 2-3 ◽

pp. 408-413

Author(s):

Yun Bae Kim ◽

Gi Sang Choi

Keyword(s):

Mobile Robot ◽

Visual Information ◽

Haptic Feedback ◽

Experimental Results ◽

Improve Efficiency ◽

Feedback Scheme ◽

Sense Of Touch

Haptic feedback force is often suggested to complement visual information through the sense of touch to improve efficiency and safety in the teleoperation of mobile robot. The efficiency and safety of teleoperation are strongly dependent upon how haptic feedback is presented to the operator. In this study a haptic feedback scheme for teleoperation of mobile robot is developed and its effectiveness is experimentally verified. Experimental results show that the developed scheme improves the quality of mobile robot teleoperation in terms of improvement in efficiency and safety.

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