Neurobehavioral assessment of force feedback simulation in industrial robotic teleoperation
Neurobehavioral assessment of force feedback simulation in industrial robotic teleoperation
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DOI：
10.1016/j.autcon.2021.103674
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发表时间：
2021-06
影响因子：
10.3
通讯作者：
Qi Zhu;Jing Du;Yangming Shi;P. Wei
中科院分区：
文献类型：
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作者：
Qi Zhu;Jing Du;Yangming Shi;P. Wei
遥控机器人操作，即，人类操作员远距离操纵远程机器人系统，已经开始在建筑业中流行起来。预计它将有助于应对动态建筑工作场所的运营挑战。远程机器人操作的成功建立在人机界面的有效设计上，为人类操作员提供关于远程工作场所的必要感觉，包括多模态感觉线索，例如视觉，听觉和触觉反馈。特别是力反馈设计的遥控机器人控制界面是中心的兴趣，并正在成为双边控制系统的主要功能，遥操作，因为它有助于提供反馈的沉重的物理交互和过程中的典型施工操作。尽管如此，力反馈模拟解决方案如何影响人类操作员的感知和行为反应还不太清楚。本文在典型的工业阀门操作实验中研究了具有双边控制系统的操作员的神经行为表现（n= 21）。该实验测试了两种力反馈条件：真实（系统在阀门操作操作中复制了完全相同的扭矩感觉）和中介（模拟将人类操作员端的力减少了50%，以实现更灵活的控制）。参与者的表现通过各种指标进行评估，包括任务表现，人员表现和操作速度均匀性。通过眼动追踪、神经成像（功能性近红外光谱，fNIRS）、运动分析和NASA TLX调查收集数据。结果表明，在双侧遥操作中，介导的力反馈有助于更准确的操作，增加双重任务，减少认知负荷和更有效的神经功能，但它鼓励参与者从事更多的不规则动作，表现为阀门旋转速度的显着变化。研究结果表明，遥控机器人系统的力反馈设计应更加仔细地考虑，以平衡的优点和缺点。
Telerobotic operation, i.e., a human operator to manipulate remote robotic systems at a distance, has started to gain its popularity in the construction industry. It is expected to help tackle operational challenges in dynamic construction workplaces. The success of telerobotic operation builds on the effective design of the human-robot interface to provide human operators with necessary senses about the remote workplaces, involving multimodal sensory cues, such as visual, audio and haptic feedback. Especially the force feedback design in telerobotic control interface is of central interest and is becoming the main feature of the bilateral control system for teleoperation, as it helps provide feedback about heavy physical interactions and processes in typical construction operations. Nonetheless, how force feedback simulation solutions affect the human operator's perceptional and behavioral reactions is less understood. This paper investigates the neurobehavioral performance of operators with a bilateral control system in a typical industrial valve operation experiment (n= 21). The experiment tested two force feedback conditions: Realistic (the system replicates the exact same feeling of the torque in valve manipulation operations) and Mediated (the simulation reduces the force on the human operator end by 50% to enable more flexible controls). The performance of the participants was evaluated via various metrics, including task performance, human performance and operational velocity uniformity. Data was collected with eye-tracking, neuroimaging (functional near-infrared spectroscopy, fNIRS), motion analysis, and NASA TLX surveys. The results indicated that the mediated force feedback in bilateral telerobotic operation helped more accurate operation, increased dual tasking, reduced cognitive load and more efficient neural functions; yet it encouraged participants to engage in more irregular actions, showing as dramatic changes in valve rotating speeds. The findings suggest that the force feedback design of telerobotic systems should be more carefully thought through to balance the advantages and disadvantages.