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Communicating Robot Goals via Haptic Feedback in Manipulation Tasks

Published: 01 April 2020 Publication History

Abstract

In shared autonomy, human teleoperation blends with intelligent robot autonomy to create robot control. This combination enables assistive robot manipulators to help human operators by predicting and reaching the human's desired target. However, this reduces the control authority of the user and the transparency of the interaction. This negatively affects their willingness to use the system. We propose haptic feedback as a seamless and natural way for the robot to communicate information to the user and assist them in completing the task. A proof-of-concept demonstration of our system illustrates the effectiveness of haptic feedback in communicating the robot's goals to the user. We hypothesize that this can be an effective way to improve performance in teleoperated manipulation tasks, while retaining the control authority of the user.

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Cited By

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  • (2024)Human-Robot Haptic Communication and Accessible Assistive TechnologyACM SIGACCESS Accessibility and Computing10.1145/3654768.3654769(1-1)Online publication date: 1-Jan-2024
  • (2024)Who’s in Charge Here? A Survey on Trustworthy AI in Variable Autonomy Robotic SystemsACM Computing Surveys10.1145/364509056:7(1-32)Online publication date: 9-Apr-2024
  • (2024)Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)10.1109/RO-MAN60168.2024.10731383(1963-1969)Online publication date: 26-Aug-2024
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cover image ACM Conferences
HRI '20: Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction
March 2020
702 pages
ISBN:9781450370578
DOI:10.1145/3371382
Permission to make digital or hard copies of part or all 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 third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Publication History

Published: 01 April 2020

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Author Tags

  1. haptics
  2. human-robot collaboration
  3. manipulation
  4. teleoperation

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Overall Acceptance Rate 192 of 519 submissions, 37%

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Cited By

View all
  • (2024)Human-Robot Haptic Communication and Accessible Assistive TechnologyACM SIGACCESS Accessibility and Computing10.1145/3654768.3654769(1-1)Online publication date: 1-Jan-2024
  • (2024)Who’s in Charge Here? A Survey on Trustworthy AI in Variable Autonomy Robotic SystemsACM Computing Surveys10.1145/364509056:7(1-32)Online publication date: 9-Apr-2024
  • (2024)Low-Cost Teleoperation with Haptic Feedback through Vision-based Tactile Sensors for Rigid and Soft Object Manipulation2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)10.1109/RO-MAN60168.2024.10731383(1963-1969)Online publication date: 26-Aug-2024
  • (2024)Psychological Perspectives on the Influence of Robotic Emotional Cues on Human User Interaction IntentionDesign, User Experience, and Usability10.1007/978-3-031-61353-1_3(38-60)Online publication date: 15-Jun-2024
  • (2021)Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation2021 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48506.2021.9560991(3306-3312)Online publication date: 30-May-2021
  • (2021)Learning to teleoperate an upper-limb assistive humanoid robot for bimanual daily-living tasksBiomedical Physics & Engineering Express10.1088/2057-1976/ac38818:1(015022)Online publication date: 16-Dec-2021

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