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  Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots

Son, H., Chuang, L., Franchi, A., Kim, J., Lee, D., Lee, S.-W., et al. (2011). Measuring an Operator's Maneuverability Performance in the Haptic Teleoperation of Multiple Robots. In N. Amato (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 3039-3046). Piscatawy, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BA58-0 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-F2EB-5
Genre: Conference Paper

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 Creators:
Son, HI1, 2, Author              
Chuang, LL1, 2, Author              
Franchi, A1, 2, Author              
Kim, J, Author              
Lee, D, Author
Lee, S-W, Author
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 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: In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.

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 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/IROS.2011.6094618
BibTex Citekey: SonCFKLLBR2011
 Degree: -

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Event: San Francisco, CA, USA
Start-/End Date: 2011-09-25 - 2011-09-30

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
 Creator(s):
Amato, NM, Editor
Affiliations:
-
Publ. Info: Piscatawy, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3039 - 3046 Identifier: ISBN: 978-1-61284-454-1