Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing.
Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing.
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DOI：
10.3389/frobt.2021.730946
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发表时间：
2021
影响因子：
3.4
通讯作者：
Iida F
中科院分区：
文献类型：
--
作者：
Costi L;Scimeca L;Maiolino P;Lalitharatne TD;Nanayakkara T;Hashem R;Iida F
通信延迟是远程机器人的一个基本挑战：一方面，它损害了远程操作机器人的稳定性，另一方面，它降低了用户对指定任务的意识。在科学文献中，这样的问题已经用统计模型和神经网络（NN）来解决，以执行传感器预测，同时让用户完全控制机器人的运动。我们提出共享控制作为一种工具来补偿和减轻通信延迟的影响。共享控制已被证明可以提高到达和操作任务的精度和速度，特别是在医疗和外科领域。我们分析了额外延迟的影响，并提出了一种单边远程操作的领导者-追随者架构，该架构在具有触觉传感的一维到达和识别任务中实现了预测系统和共享控制。我们提出了四种不同的控制模式来提高自主性：非预测性人类控制（HC）、预测性人类控制（PHC）、（共享）预测性人机控制（PHRC）和预测性机器人控制（PRC）。当分析增加的延迟如何影响受试者的表现时，结果表明HC对延迟非常敏感：用户无法在期望的位置停止并且轨迹表现出广泛的振荡。引入的自治程度在减少完成任务所需的总时间方面被证明是有效的。此外，我们提供了环境相互作用力的深入分析和执行轨迹。总的来说，共享控制模式PHRC代表了一种很好的权衡，在准确性和任务时间方面具有峰值性能，具有良好的到达速度，并且与感兴趣的对象有适度的接触。
Communication delay represents a fundamental challenge in telerobotics: on one hand, it compromises the stability of teleoperated robots, on the other hand, it decreases the user’s awareness of the designated task. In scientific literature, such a problem has been addressed both with statistical models and neural networks (NN) to perform sensor prediction, while keeping the user in full control of the robot’s motion. We propose shared control as a tool to compensate and mitigate the effects of communication delay. Shared control has been proven to enhance precision and speed in reaching and manipulation tasks, especially in the medical and surgical fields. We analyse the effects of added delay and propose a unilateral teleoperated leader-follower architecture that both implements a predictive system and shared control, in a 1-dimensional reaching and recognition task with haptic sensing. We propose four different control modalities of increasing autonomy: non-predictive human control (HC), predictive human control (PHC), (shared) predictive human-robot control (PHRC), and predictive robot control (PRC). When analyzing how the added delay affects the subjects’ performance, the results show that the HC is very sensitive to the delay: users are not able to stop at the desired position and trajectories exhibit wide oscillations. The degree of autonomy introduced is shown to be effective in decreasing the total time requested to accomplish the task. Furthermore, we provide a deep analysis of environmental interaction forces and performed trajectories. Overall, the shared control modality, PHRC, represents a good trade-off, having peak performance in accuracy and task time, a good reaching speed, and a moderate contact with the object of interest.
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影响因子：
3.9
作者：
Avgousti S;Christoforou EG;Panayides AS;Voskarides S;Novales C;Nouaille L;Pattichis CS;Vieyres P
通讯作者：
Vieyres P
DOI：
10.1146/annurev-control-062420-090543
发表时间：
2021-01-01
期刊：
ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 4, 2021
影响因子：
--
作者：
Attanasio, Aleks;Scaglioni, Bruno;Valdastri, Pietro
通讯作者：
Valdastri, Pietro
影响因子：
2.6
作者：
Liu, Yen-Chen
通讯作者：
Liu, Yen-Chen
DOI：
10.1109/ojemb.2020.2987885
发表时间：
2020
影响因子：
5.8
作者：
Ivanova E;Carboni G;Eden J;Kruger J;Burdet E
通讯作者：
Burdet E
DOI：
10.1108/01439910410566362
发表时间：
2004-01-01
影响因子：
1.8
作者：
Okamura, AM
通讯作者：
Okamura, AM