Tele-manipulation with two asymmetric slaves

Two operators perform better than one

Journal article (2017)

Authors

J. van Oosterhout FOM Institute DIFFER, Human-Robot Interaction - Mechanical, Maritime and Materials Engineering
Cock J.M. Heemskerk Heemskerk Innovative Technology B.V.
Marco R. De Baar FOM Institute DIFFER
F.C.T. van der Helm Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
David Abbink Human-Robot Interaction - Mechanical, Maritime and Materials Engineering
Research Group
Human-Robot Interaction (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2017

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Human-Robot Interaction

Abstract

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.

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