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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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Genre: Konferenzbeitrag

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 Urheber:
Pollini, L, Autor           
Razzanelli, M, Autor
Olivari, M1, 2, 3, 4, Autor           
Brandimarti, A, Autor
Maimeri, M, Autor
Pazzaglia, P, Autor
Pittiglio, G, Autor
Nuti, R, Autor
Innocenti, M, Autor
Bülthoff, HH1, 2, 3, Autor           
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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 Zusammenfassung: 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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 Datum: 2016-08
 Publikationsstatus: Erschienen
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 Identifikatoren: DOI: 10.1016/j.ifacol.2016.10.465
BibTex Citekey: PolliniROBMPPNIB2016
 Art des Abschluß: -

Veranstaltung

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Titel: 13th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems (HMS 2016)
Veranstaltungsort: Kyoto, Japan
Start-/Enddatum: 2016-08-30 - 2016-09-02

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Titel: IFAC-PapersOnLine
  Andere : IFAC Papers Online
Genre der Quelle: Zeitschrift
 Urheber:
Sawaragi, T, Herausgeber
Affiliations:
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Ort, Verlag, Ausgabe: Frankfurt ; München [u.a.] : Elsevier
Seiten: - Band / Heft: 49 (19) Artikelnummer: - Start- / Endseite: 78 - 83 Identifikator: ISSN: 2405-8963
CoNE: https://pure.mpg.de/cone/journals/resource/2405-8963