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Adaptive Aid on Targeted Manipulator Movements in Tele-Assistance

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorStoelen, Martín Fodstad
dc.contributor.authorFernández de Tejada Mendiola, Virginia
dc.contributor.authorJardón Huete, Alberto
dc.contributor.authorBonsignorio, Fabio
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2023-11-07T11:30:14Z
dc.date.available2023-11-07T11:30:14Z
dc.date.issued2016-08-12
dc.description.abstractThe teleoperation of robot manipulators over the internet suffers from variable delays in the communications. Here we address a tele-assistance scenario, where a remote operator assists a disabled or elderly user on daily life tasks. Our behavioral approach uses local environment information from robot sensing to help enable faster execution for a given movement tolerance. This is achieved through a controller that automatically slows the operator down before having collisions, using a set of distributed proximity sensors. The controller is made to gradually increase the assistance in situations similar to those where ollisions have occurred in the past, thus adapting to the given operator, robot and task-set. Two controlled virtual experiments for tele-assistance with a 5 DOF manipulator were performed, with 300 ms and 600 ms mean variable round-trip delays. The results showed significant improvements in the median times of 12.6% and 16.5%, respectively. Improvements in the subjective workload were also seen with the controller. A first implementation on a physical robot manipulator is described.en
dc.description.sponsorshipThe research presented here has received funding from the ARCADIA project DPI2010-21047-C02-0, thanks to the MINECO ministry of Spain, and the ROBOCITY2030 II project S2009/DPI-1559, thanks to Comunidad de Madrid and EU structural funds.en
dc.format.extent16es
dc.identifier.bibliographicCitationStoelen, M. F., Tejada, V. F., Jardón, A., Bonsignorio, F., & Balaguer, C. (2016). Adaptive aid on targeted robot manipulator movements in Tele-Assistance. Paladyn, 7(1), pp. 15-30en
dc.identifier.doihttps://doi.org/10.1515/pjbr-2016-0002
dc.identifier.issn2081-4836
dc.identifier.publicationfirstpage15es
dc.identifier.publicationissue1es
dc.identifier.publicationlastpage30es
dc.identifier.publicationtitlePaladynen
dc.identifier.publicationvolume7es
dc.identifier.urihttps://hdl.handle.net/10016/38773
dc.identifier.uxxiAR/0000018502
dc.language.isoenges
dc.publisherDe Gruyter Openen
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559es
dc.relation.projectIDGobierno de España. DPI2010-21047-C02-01es
dc.relation.publisherversionhttp://www.degruyter.com/view/j/pjbr.2016.7.issue-1/pjbr-2016-0002/pjbr-2016-0002.xmles
dc.rights© 2016 Martin F. Stoelen et al., published by De Gruyter Open.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaBiología y Biomedicinaes
dc.subject.ecienciaElectrónicaes
dc.subject.ecienciaInformáticaes
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherTeleoperationen
dc.subject.otherHapticsen
dc.subject.otherAssistive roboticsen
dc.subject.otherTime-delaysen
dc.subject.otherShared controlen
dc.subject.otherNeural networken
dc.subject.otherProximity sensingen
dc.subject.otherDistributed adaptive control (dac)en
dc.titleAdaptive Aid on Targeted Manipulator Movements in Tele-Assistanceen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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