RT Journal Article
T1 Adaptive Aid on Targeted Manipulator Movements in Tele-Assistance
A1 Stoelen, Martín Fodstad
A1 Fernández de Tejada Mendiola, Virginia
A1 Jardón Huete, Alberto
A1 Bonsignorio, Fabio
A1 Balaguer Bernaldo de Quirós, Carlos
AB The 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.
PB De Gruyter Open
SN 2081-4836
YR 2016
FD 2016-08-12
LK https://hdl.handle.net/10016/38773
UL https://hdl.handle.net/10016/38773
LA eng
NO The 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.
DS e-Archivo
RD 17 jul. 2024