Boessenkool Henri, Abbink David A, Heemskerk Cock J M, van der Helm Frans C T, Wildenbeest Jeroen G W
IEEE Trans Haptics. 2013 Jan-Mar;6(1):2-12. doi: 10.1109/TOH.2012.22.
Telemanipulation allows human to perform operations in a remote environment, but performance and required time of tasks is negatively influenced when (haptic) feedback is limited. Improvement of transparency (reflected forces) is an important focus in literature, but despite significant progress, it is still imperfect, with many unresolved issues. An alternative approach to improve teleoperated tasks is presented in this study: Offering haptic shared control in which the operator is assisted by guiding forces applied at the master device. It is hypothesized that continuous intuitive interaction between operator and support system will improve required time and accuracy with less control effort, even for imperfect transparency. An experimental study was performed in a hard-contact task environment. The subjects were aided by the designed shared control to perform a simple bolt-spanner task using a planar three degree of freedom (DOF) teleoperator. Haptic shared control was compared to normal operation for three levels of transparency. The experimental results showed that haptic shared control improves task performance, control effort and operator cognitive workload for the overall bolt-spanner task, for all three transparency levels. Analyses per subtask showed that free air movement (FAM) benefits most from shared control in terms of time performance, and also shows improved accuracy.
远程操作允许人类在远程环境中执行操作，但是当（触觉）反馈受到限制时，任务的执行情况和所需时间会受到负面影响。提高透明度（反射力）是文献中的一个重要关注点，尽管取得了重大进展，但仍然不够完善，存在许多未解决的问题。本研究提出了一种改进远程操作任务的替代方法：提供触觉共享控制，即在主设备上施加引导力来协助操作员。据推测，即使对于透明度不完善的情况，操作员与支持系统之间持续的直观交互也将以更少的控制努力提高所需时间和准确性。在硬接触任务环境中进行了一项实验研究。受试者借助设计的共享控制，使用平面三自由度遥操作器执行简单的螺栓扳手任务。针对三种透明度水平，将触觉共享控制与正常操作进行了比较。实验结果表明，对于所有三种透明度水平，触觉共享控制在整个螺栓扳手任务中提高了任务性能、控制努力和操作员的认知工作量。对每个子任务的分析表明，就时间性能而言，自由空气移动（FAM）从共享控制中受益最大，并且准确性也有所提高。
