Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

The contribution of force feedback to human performance in the teleoperation of multiple unmanned aerial vehicles

  • Original Paper
  • Published:
Journal on Multimodal User Interfaces Aims and scope Submit manuscript

Abstract

The availability of additional force cues in haptic devices are often expected to improve control performance, over conditions that only provide visual feedback. However, there is little empirical evidence to show this to be true for the teleoperation control of remote vehicles [i.e., multiple unmanned aerial vehicles (UAVs)]. In this paper, the contribution of haptic force feedback cues to the teleoperation of multiple UAVs was evaluated. These cues were based on either the UAVs’ velocity or directed forces from sensed obstacles. Both induced improved teleoperator perception of the remote environment. However, velocity-based cues resulted in more effortful maneuvering.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5

Similar content being viewed by others

References

  1. Borenstein J, Koren Y (1990) Teleautonomous guidance for mobile robots. IEEE Trans Syst Man Cybern 20(6):1437–1443

    Article  Google Scholar 

  2. Diolaiti N, Melchiorri C (2002) Teleoperation of a mobile robot through haptic feedback. In: Proceedings of the international workshop on haptic virtual environments and their applications, pp 67–72

  3. McCarley J, Wickens C (2005) Human factors implications of UAVs in the national airspace. Aviation Human Factors Division, Savoy, Illinois, Technical report AHFD-05-05/FAA-05-01

  4. Franchi A, Masone C, Grabe V, Ryll M, Bülthoff HH, Giordano PR (2012) Modeling and control of UAV bearing formations with bilateral high-level steering. Int J Robot Res 31(12):1504–1525

    Article  Google Scholar 

  5. Franchi A, Secchi C, Ryll M, Bülthoff HH, Giordano PR (2012) Shared control: balancing autonomy and human assistance with a group of quadrotor UAVs. IEEE Robot Autom Mag 19(3):57–68

    Article  Google Scholar 

  6. Hong A, Bülthoff HH, Son HI (2013) A visual and force feedback for multi-robot teleoperation in outdoor environments: a preliminary result. In: 2013 IEEE international conference on robotics and automation (ICRA). IEEE, pp 1471–1478 (2013)

  7. Hong A, Lee DG, Bülthoff HH, Son HI (2017) Multimodal feedback for teleoperation of multiple mobile robots in an outdoor environment. J Multimodal User Interfaces 11(1):67–80

    Article  Google Scholar 

  8. Bahrick H (1957) An analysis of stimulus variables influencing the proprioceptive control of movements. Psychol Rev 64(5):324–328

    Article  Google Scholar 

  9. Hill J (1979) Study of modeling and evaluation of remote manipulation tasks with force feedback. Final Report, SRI International Project, vol 7696

  10. Hokayem P, Spong M (2006) Bilateral teleoperation: an historical survey. Automatica 42(12):2035–2057

    Article  MathSciNet  Google Scholar 

  11. van der Meijden O, Schijven M (2009) The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review. Surg Endosc 23(6):1180–1190

    Article  Google Scholar 

  12. Wagner C, Howe R, Stylopoulos N (2002) The role of force feedback in surgery: analysis of blunt dissection. In: Proceedings of the symposium on haptic interfaces for virtual environment and teleoperator systems, pp 73–79 (2002)

  13. Reiley C, Akinbiyi T, Burschka D, Chang D, Okamura A, Yuh D (2008) Effects of visual force feedback on robot-assisted surgical task performance. J Thorac Cardiovasc Surg 135(1):196–202

    Article  Google Scholar 

  14. Wagner C, Howe R (2007) Force feedback benefit depends on experience in multiple degree of freedom robotic surgery task. IEEE Trans Robot 23(6):1235–1240

    Article  Google Scholar 

  15. Anderson R, Spong M (1989) Bilateral control of teleoperators with time delay. IEEE Trans Autom Control 34(5):494–501

    Article  MathSciNet  Google Scholar 

  16. Massimino M (1995) Improved force perception through sensory substitution. Control Eng Pract 3(2):215–222

    Article  Google Scholar 

  17. Yoon J, Ryu J (2001) Design, fabrication, and evaluation of a new haptic device using a parallel mechanism. IEEE/ASME Trans Mechatron 6(3):221–233

    Article  Google Scholar 

  18. Hayward V, MacLean K (2007) Do it yourself haptics: part I. IEEE Robot Autom Mag 14(4):88–104

    Article  Google Scholar 

  19. Murray R (2007) Recent research in cooperative control of multivehicle systems. J Dyn Syst Meas Control 129:571–583

    Article  Google Scholar 

  20. Franchi A, Secchi C, Son HI, Bülthoff HH, Giordano PR (2012) Bilateral teleoperation of groups of mobile robots with time-varying topology. IEEE Trans Robot 28(5):1019–1033

    Article  Google Scholar 

  21. Lee D, Franchi A, Son HI, Ha C, Bülthoff HH, Giordano PR (2013) Semiautonomous haptic teleoperation control architecture of multiple unmanned aerial vehicles. IEEE/ASME Trans Mechatron 18(4):1334–1345

    Article  Google Scholar 

  22. Ju C, Son HI (2018) Multiple UAV systems for agricultural applications: control, implementation, and evaluation. Electronics 7(9):162

    Article  Google Scholar 

  23. Lam T, Boschloo H, Mulder M, Van Paassen M (2009) Artificial force field for haptic feedback in UAV teleoperation. IEEE Trans Syst Man Cybern Syst Hum 39(6):1316–1330

    Article  Google Scholar 

  24. Son HI, Franchi A, Chuang LL, Kim J, Bülthoff HH, Giordano PR (2013) Human-centered design and evaluation of haptic cueing for teleoperation of multiple mobile robots. IEEE Trans Cybern 43(2):597–609

    Article  Google Scholar 

  25. Son HI, Chuang L, Kim J, Bülthoff HH (2011) Haptic feedback cues can improve human perceptual awareness in multi-robots teleoperation. In: Proceedings of the international conference on control, automation and systems, pp 1323–1328

  26. Lee D, Huang K (2010) Passive-set-position-modulation framework for interactive robotic systems. IEEE Trans Robot 26(2):354–369

    Article  Google Scholar 

  27. Hashtrudi-Zaad K, Salcudean SE (2001) Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. Int J Robot Res 20(6):419–445

    Article  Google Scholar 

  28. Wichmann FA, Hill NJ (2001) The psychometric function: I. Fitting, sampling and goodness-of-fit. Percept Psychophys 63(8):1293–1313

    Article  Google Scholar 

Download references

Acknowledgements

This research was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning under Grant NRF-2018R1D1A1B07046948, and in part by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture, Forestry (IPET) through Advanced Production Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MAFRA) (115062-2).

Author information

Authors and Affiliations

  1. Department of Rural and Biosystems Engineering, Chonnam National University, Yongbong-ro 77, Buk-gu, Gwangju, 61186, Republic of Korea

    Hyoung Il Son

Authors
  1. Hyoung Il Son
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hyoung Il Son.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Son, H.I. The contribution of force feedback to human performance in the teleoperation of multiple unmanned aerial vehicles. J Multimodal User Interfaces 13, 335–342 (2019). https://doi.org/10.1007/s12193-019-00292-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12193-019-00292-0

Keywords

Search

Navigation