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  Design, Realization and Experimental Evaluation of a Haptic Stick for Shared Control Studies

Pollini, L., Razzanelli, M., Olivari, M., Brandimarti, A., Maimeri, M., Pazzaglia, P., et al. (2016). Design, Realization and Experimental Evaluation of a Haptic Stick for Shared Control Studies. IFAC-PapersOnLine, 49(19), 78-83.

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Item Permalink: https://hdl.handle.net/21.11116/0000-0000-7A7E-B Version Permalink: https://hdl.handle.net/21.11116/0000-0006-BD71-6
Genre: Conference Paper

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 Creators:
Pollini, L, Author           
Razzanelli, M, Author
Olivari, M1, 2, 3, 4, Author           
Brandimarti, A, Author
Maimeri, M, Author
Pazzaglia, P, Author
Pittiglio, G, Author
Nuti, R, Author
Innocenti, M, Author
Bülthoff, HH1, 2, 3, Author           
Affiliations:
1Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
2Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
3Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
4Project group: Motion Perception & Simulation, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528705              

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 Abstract: Shared control is becoming widely used in many manual control tasks as a mean for improving performance and safety. Designing an effective shared control system requires extensive testing and knowledge of how operators react to the haptic sensations provided by the control device shared with the support system. Commercial general purpose haptic devices may be unfit to reproduce the operational situation typical of the control task under study, like car driving or airplane flying. Thus specific devices are needed for research on specific task; this market niche exists but is characterized by expensive products. This paper presents the development of a complete low cost haptic stick, of its initial characterization and inner loop and impedance control systems design, and finally proposes an evaluation with two test cases: pilot admittance identification with the classical tasks, and an entire haptic experiment. In particular this latter experiment tries to study what happens when a system failure happens in a pilot support system built using a classical embedded controller, compared to a system built following the haptic shared control paradigm.

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 Dates: 2016-08
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1016/j.ifacol.2016.10.465
BibTex Citekey: PolliniROBMPPNIB2016
 Degree: -

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Title: 13th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems (HMS 2016)
Place of Event: Kyoto, Japan
Start-/End Date: 2016-08-30 - 2016-09-02

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Title: IFAC-PapersOnLine
  Other : IFAC Papers Online
Source Genre: Journal
 Creator(s):
Sawaragi, T, Editor
Affiliations:
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Publ. Info: Frankfurt ; München [u.a.] : Elsevier
Pages: - Volume / Issue: 49 (19) Sequence Number: - Start / End Page: 78 - 83 Identifier: ISSN: 2405-8963
CoNE: https://pure.mpg.de/cone/journals/resource/2405-8963