Remote control of an assistive robot using force feedback
Remote control of an assistive robot using force feedback
复制标题
使用力反馈远程控制辅助机器人
DOI：
10.1109/icar.2011.6088570
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
P. Hoppenot
中科院分区：
文献类型：
--
作者：
Paul Nadrag;L. Temzi;Hichem Arioui;P. Hoppenot
在本文中，我们考虑了用于探索家庭环境的辅助移动机器人的触觉遥操作。这篇论文的目的是帮助远程操作员不仅给他视频反馈，还给他触觉反馈，从而帮助他驾驶机器人。它们都是互补的，因为它们不需要用户给予同样的关注。所提出的触觉体系结构被发现在时延通信下改善了操作员对远程环境的感知。人类操作员可以使用移动机器人的内部传感器来主动控制移动机器人，并“感觉”到奴隶环境。并对实际机器人的实验结果进行了分析。
In this paper, we consider the haptic teleoperation of an assistive mobile robot, used for exploring a domestic environment. The goal of the paper is to help the remote operator to pilot the robot by giving him not only video feedback but also haptic feedback. They are both complementary as they do not require the same kind of attention from the user. The proposed haptic architecture was found to improve operator perception of the remote environment under time delay communication. The human-operator can control actively the mobile robot, using its intrinsic sensors, and “feel” the slave environment. Experimental results, with a real robot, are performed and analyzed.