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  Evaluation of Direct and Indirect Haptic Aiding in an Obstacle Avoidance Task for Tele-Operated Systems

Alaimo, S., Pollini, L., Bresciani, J.-P., & Bülthoff, H. (2011). Evaluation of Direct and Indirect Haptic Aiding in an Obstacle Avoidance Task for Tele-Operated Systems. In S. Bittanti, A. Cenedese, & S. Zampieri (Eds.), 18th IFAC World Congress. Oxford, UK: Pergamon Press.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BA46-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-F2D0-2
Genre: Conference Paper

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 Creators:
Alaimo, SMC, Author              
Pollini, L, Author              
Bresciani, J-P1, 2, Author              
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: The sense of telepresence is very important in teleoperation environments in which the operator is physically separated from the vehicle. It appears reasonable, and it has already been shown in the literature, that extending the visual feedback with force feedback is able to complement the visual information (when missing or limited) through the sense of touch and allows the operator to better perceive information from the remote environment and its constraints, hopefully preventing dangerous collisions. This paper focuses on a novel concept of haptic cueing for an airborne obstacle avoidance task; the novel cueing algorithm was designed in order to appear “natural” to the operator, and to improve the human-machine interface without directly acting on the actual aircraft commands. An experimental evaluation of two different Haptic aiding concepts for obstacle avoidance is presented. An existing and widely used approach, belonging to what we called the Direct Haptic Aid (DHA) class, and a novel one based on the Indirect Haptic Aid (IHA) class. The two haptic aids were compared with a baseline condition in which no haptic force was associated to the obstacles. Test results show that a net improvement in terms of performance (i.e. the number of collisions) is provided by employing the IHA haptic cue instead of both the DHA haptic cue and the visual cue only. Most participants of the experiment reported the strongest force feeling, the most necessary effort and also the most helpful sensation with DHA and IHA conditions with respect to the baseline condition. This paper shows that the IHA philosophy is a valid alternative to the other commonly used, and published in the scientific literature, approaches which fall in the DHA category.

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 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.3182/20110828-6-IT-1002.02790
BibTex Citekey: 6845
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Title: 18th World Congress of the International Federation of Automatic Control (IFAC WC 2011)
Place of Event: Milano, Italy
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Source 1

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Title: 18th IFAC World Congress
Source Genre: Proceedings
 Creator(s):
Bittanti, S, Editor
Cenedese, A, Editor
Zampieri, S, Editor
Affiliations:
-
Publ. Info: Oxford, UK : Pergamon Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: - Identifier: -

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Title: IFAC Proceedings Volumes
Source Genre: Journal
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Pages: - Volume / Issue: 44 (1) Sequence Number: - Start / End Page: 6472 - 6477 Identifier: -