Department of Business Development and Technology

Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

Research output: Contribution to journal/Conference contribution in journal/Contribution to newspaperJournal articleResearchpeer-review

Documents

DOI

  • Selma Music, Tech Univ Munich, Technical University of Munich, Chair Informat Oriented Control
  • ,
  • Gionata Salvietti, Univ Siena, University of Siena, Dept Informat Engn & Math
  • ,
  • Pablo Budde Gen Dohman, Tech Univ Munich, Technical University of Munich, Chair Informat Oriented Control
  • ,
  • Francesco Chinello
  • Domenico Prattichizzo, Univ Siena, University of Siena, Dept Informat Engn & Math
  • ,
  • Sandra Hirchee, Tech Univ Munich, Technical University of Munich, Chair Informat Oriented Control

The interaction of robot teams and single human in teleoperation scenarios is beneficial in cooperative tasks, for example, the manipulation of heavy and large objects in remote or dangerous environments. The main control challenge of the interaction is its asymmetry, arising because robot teams have a relatively high number of controllable degrees of freedom compared to the human operator. Therefore, we propose a control scheme that establishes the interaction on spaces of reduced dimensionality taking into account the low number of human command and feedback signals imposed by haptic devices. We evaluate the suitability of wearable haptic fingertip devices for multi-contact teleoperation in a user study. The results show that the proposed control approach is appropriate for human-robot team interaction and that the wearable haptic fingertip devices provide suitable assistance in cooperative manipulation tasks.

Original languageEnglish
JournalIEEE Transactions on Haptics
Volume12
Issue3
Pages (from-to)350-362
Number of pages13
ISSN1939-1412
DOIs
Publication statusPublished - 2019

    Research areas

  • Human-robot interaction, telerobotics, cooperative manipulation, wearable haptics, IMPEDANCE CONTROL, TELEOPERATION, FINGERTIP, TELEMANIPULATION, FEEDBACK

See relations at Aarhus University Citationformats

ID: 189883498