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Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures

Published: 02 March 2015 Publication History

Abstract

During multi-lateral collaborative teleoperation, where multiple human or autonomous agents share control of a teleoperation system, it is important to be able to convey individual user intent. One option for conveying the actions and intent of users or autonomous agents is to provide force guidance from one user to another. Under this paradigm, forces would be transmitted from one user to another in order to guide motions and actions. However, the use of force guidance to convey intent can mask environmental force feedback. In this paper we explore the possibility of using tactile feedback, in particular skin deformation feedback, skin deformation feedback to convey collaborative intent while preserving environmental force perception. An experiment was performed to test the ability of participants to use force guidance and skin deformation guidance to follow a path while interacting with a virtual environment. In addition, we tested the ability of participants to discriminate virtual environment stiffness when receiving either force guidance or skin deformation guidance. We found that skin deformation guidance resulted in a reduction of path-following accuracy, but increased the ability to discriminate environment stiffness when compared with force feedback guidance.

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Cited By

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  • (2024)Charting User Experience in Physical Human–Robot InteractionACM Transactions on Human-Robot Interaction10.1145/365905813:2(1-29)Online publication date: 28-Jun-2024
  • (2017)WAVESProceedings of the 2017 CHI Conference on Human Factors in Computing Systems10.1145/3025453.3025741(4972-4982)Online publication date: 2-May-2017
  • (2016)Inferring and assisting with constraints in shared autonomy2016 IEEE 55th Conference on Decision and Control (CDC)10.1109/CDC.2016.7799299(6689-6696)Online publication date: Dec-2016

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  1. Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures

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    cover image ACM Conferences
    HRI '15: Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction
    March 2015
    368 pages
    ISBN:9781450328838
    DOI:10.1145/2696454
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Published: 02 March 2015

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    Author Tags

    1. haptics
    2. skin deformation
    3. skin stretch
    4. stiffness discrimination
    5. virtual fixtures

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    Overall Acceptance Rate 268 of 1,124 submissions, 24%

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    View all
    • (2024)Charting User Experience in Physical Human–Robot InteractionACM Transactions on Human-Robot Interaction10.1145/365905813:2(1-29)Online publication date: 28-Jun-2024
    • (2017)WAVESProceedings of the 2017 CHI Conference on Human Factors in Computing Systems10.1145/3025453.3025741(4972-4982)Online publication date: 2-May-2017
    • (2016)Inferring and assisting with constraints in shared autonomy2016 IEEE 55th Conference on Decision and Control (CDC)10.1109/CDC.2016.7799299(6689-6696)Online publication date: Dec-2016

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