Print Email Facebook Twitter Haptic assistance improves tele-manipulation with two asymmetric slaves Title Haptic assistance improves tele-manipulation with two asymmetric slaves Author van Oosterhout, J. (TU Delft Human-Robot Interaction; FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research) Heemskerk, Cock (Heemskerk Innovative Technology) Boessenkool, H. (TU Delft Biomechatronics & Human-Machine Control; FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research) De Baar, Marco R. (FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research) van der Helm, F.C.T. (TU Delft Biomechatronics & Human-Machine Control) Abbink, D.A. (TU Delft Human-Robot Interaction) Date 2018 Abstract Tele-manipulation of heavy loads typically requires the simultaneous use of two asymmetric slaves: a crane for vertical weight support; and a robot for accurate lateral positioning. The industrial standard prescribes a pair of operators for such tasks (one operator to control each slave), although in principle one operator might control both slaves with a single, hybrid interface. Accurate and safe co-operative handling of the expensive and fragile heavy components is difficult, presumably due to problems in the coordination of the subtasks and the lack of mutual awareness between the two operators. This study proposes a novel haptic assistance system to improve subtask coordination and task performance. Its novelty consists of haptically linking operators/interfaces through the joint task environment. The system's efficacy is evaluated with fifteen pairs of co-operators and fifteen individual uni-manual operators who manoeuvred a heavy load through a bounded path in Virtual Reality. Haptic assistance improves task completion time for both groups. It also reduces control activity and self-reported workload without affecting a number of critical errors made by the operators. Moreover, without haptic assistance, uni-manual operators perform worse than co-operators, but this difference between the interfaces disappears with haptic assistance. Subject Co-operationCollaborationDyadsHaptic assistanceHaptic shared controlHapticsRemote handlingTele-manipulation To reference this document use: http://resolver.tudelft.nl/uuid:440b8a22-b0bb-41fe-a540-0bcddaa6513f DOI https://doi.org/10.1109/TOH.2018.2873350 ISSN 1939-1412 Source IEEE Transactions on Haptics, 12 (April-June 2019) (2), 141-153 Bibliographical note Accepted Author manuscript Part of collection Institutional Repository Document type journal article Rights © 2018 J. van Oosterhout, Cock Heemskerk, H. Boessenkool, Marco R. De Baar, F.C.T. van der Helm, D.A. Abbink Files PDF Haptic_Assistance_Improves.pdf 4.46 MB Close viewer /islandora/object/uuid:440b8a22-b0bb-41fe-a540-0bcddaa6513f/datastream/OBJ/view