Titre :

On the Use of Haptic Tablets for UGV Teleoperation in Unstructured Environments: System Design and Evaluation

Auteur(s) :

Luz, Rute [Auteur]
Corujeira, José [Auteur]
Grisoni, Laurent [Auteur]
Laboratoire d'Informatique Fondamentale de Lille [LIFL]
Université de Lille
Institut de Recherche sur les Composants logiciels et matériels pour l'Information et la Communication Avancée - UAR 3380 [IRCICA]
Giraud, Frédéric [Auteur]
Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
Université de Lille
Institut de Recherche sur les Composants logiciels et matériels pour l'Information et la Communication Avancée - UAR 3380 [IRCICA]
Silva, Jose Luis [Auteur]
Instituto Universitário de Lisboa [ISCTE-IUL]
Ventura, Rodrigo [Auteur]

Titre de la revue :

IEEE ACCESS

Pagination :

95443-95454

Éditeur :

IEEE

Date de publication :

2019-07-15

ISSN :

2169-3536

Mot(s)-clé(s) en anglais :

Rescue Robots
Human-Robot Interaction
Haptic Interfaces
Telerobotics
Tactile Tablet
Situation Awareness

Discipline(s) HAL :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Interface homme-machine [cs.HC]

Résumé en anglais : [en]

Teleoperation of Unmanned Ground Vehicles (UGVs), particularly for inspection of unstructured and unfamiliar environments still raises important challenges from the point of view of the operator interface. One of these ...
Lire la suite >Teleoperation of Unmanned Ground Vehicles (UGVs), particularly for inspection of unstructured and unfamiliar environments still raises important challenges from the point of view of the operator interface. One of these challenges is caused by the fact that all information available to the operator is presented to the operator through a computer interface, providing only a partial view of the robot situation. The majority of existing interfaces provide information using visual, and, less frequently, sound channels. The lack of Situation Awareness (SA), caused by this partial view, may lead to an incorrect and inefficient response to the current UGV state, usually confusing and frustrating the human operator. For instance, the UGV may become stuck in debris while the operator struggles to move the robot, not understanding the cause of the UGV lack of motion. We address this problem by studying the use of haptic feedback to improve operator SA. More precisely, improving SA with respect to the traction state of the UGV, using a haptic tablet for both commanding the robot and conveying traction state to the user by haptic feedback. We report (1) a teleoperating interface, integrating a haptic tablet with an existing UGV teleoperation interface, and (2) the experimental results of a user study designed to evaluate the advantage of this interface in the teleoperation of a UGV, in a search and rescue scenario. Statistically significant results were found supporting the hypothesis that using the haptic tablet elicits a reduction in the time that the UGV spends in states without traction.Lire moins >

Langue :

Anglais

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL