Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

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Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

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Music, Selma / Salvietti, Gionata / Dohman, Pablo Budde Gen / Chinello, Francesco / Prattichizzo, Domenico / Hirchee, Sandra

Abstract

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.

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Document information

Title :

Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

Contributors:

Music, Selma (author) / Salvietti, Gionata (author) / Dohman, Pablo Budde Gen (author) / Chinello, Francesco (author) / Prattichizzo, Domenico (author) / Hirchee, Sandra (author)

Publication date :

2019-01-01

Remarks:

Music , S , Salvietti , G , Dohman , P B G , Chinello , F , Prattichizzo , D & Hirchee , S 2019 , ' Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation ' , IEEE Transactions on Haptics , vol. 12 , no. 3 , pp. 350-362 . https://doi.org/10.1109/TOH.2019.2921565

DOI :

https://doi.org/10.1109/TOH.2019.2921565

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

Human-robot interaction , telerobotics , cooperative manipulation , wearable haptics , IMPEDANCE CONTROL , TELEOPERATION , FINGERTIP , TELEMANIPULATION , FEEDBACK