Assessment of Environmental Effects on Collaborative Haptic Guidance

This paper investigates the effect of environmental factors on user performance in a dual-user haptic guidance system. The system under study allows for interaction between both users, the trainee and the trainer, to collaboratively perform a common task in a shared virtual environment. User studies are carried out to experimentally evaluate the users' performance while following square and circular trajectories with two viewpoints of the environment (top view and front view), while the virtual manipulator tool moves in free motion or against forbidden-region virtual fixtures. The performance is measured and statistically evaluated against task completion time, tracking accuracy, and user energy exchange. The studies revealed that changing the environment geometry from a square to a circle results in reduced task completion time and tracking error. Changing the environment viewpoint from top to front decreases the task completion time in both geometries. Forbidden-region virtual fixtures increase energy exchange by both users and decrease task completion time while compromising the tracking performance in the square-following task. However, when visual feedback is removed in the presence of the fixtures, the square tracking performance improves. The results also indicate a strong relationship between user dominance and tracking error only when the experiment is time-limited.

[1]  John Kenneth Salisbury,et al.  Haptic Feedback Enhances Force Skill Learning , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[2]  Apostolos Georgakis,et al.  Fatigue analysis of the surface EMG signal in isometric constant force contractions using the averaged instantaneous frequency , 2003, IEEE Transactions on Biomedical Engineering.

[3]  Sandra Hirche,et al.  Performance related energy exchange in haptic human-human interaction in a shared virtual object manipulation task , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[4]  Keyvan Hashtrudi-Zaad,et al.  Novel shared control architectures for enhanced users' interaction in haptic training simulation systems , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Marcia Kilchenman O'Malley,et al.  Progressive haptic and visual guidance for training in a virtual dynamic task , 2010, 2010 IEEE Haptics Symposium.

[6]  Keyvan Hashtrudi-Zaad,et al.  A four-channel multilateral shared control architecture for dual-user teleoperation systems , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Seungmoon Choi,et al.  Effects of haptic guidance and disturbance on motor learning: Potential advantage of haptic disturbance , 2010, 2010 IEEE Haptics Symposium.

[8]  Shahin Sirouspour,et al.  Modeling and control of cooperative teleoperation systems , 2005, IEEE Transactions on Robotics.

[9]  Kyle B. Reed,et al.  Physical Collaboration of Human-Human and Human-Robot Teams , 2008, IEEE Transactions on Haptics.

[10]  Allison M. Okamura,et al.  Haptic Virtual Fixtures for Robot-Assisted Manipulation , 2005, ISRR.

[11]  Thenkurussi Kesavadas,et al.  Comparative Study: Virtual Fixtures and Shared Control for Rehabilitation of Fine Motor Skills , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[12]  Blake Hannaford,et al.  Architectures for shared haptic virtual environments , 1997, Comput. Graph..

[13]  Keyvan Hashtrudi-Zaad,et al.  Performance Issues in Collaborative Haptic Training , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[14]  Arthur E. Quaid,et al.  Haptic information displays for computer-assisted surgery , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[15]  Cagatay Basdogan,et al.  Haptic negotiation and role exchange for collaboration in virtual environments , 2010, 2010 IEEE Haptics Symposium.

[16]  Abhishek Gupta,et al.  Shared Control in Haptic Systems for Performance Enhancement and Training , 2006 .

[17]  Paul Evrard,et al.  Homotopy switching model for dyad haptic interaction in physical collaborative tasks , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[18]  Cagatay Basdogan,et al.  An experimental study on the role of touch in shared virtual environments , 2000, TCHI.

[19]  P.X. Liu,et al.  Design and implementation of a collaborative virtual haptic surgical training system , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[20]  Frank Tendick,et al.  Haptic guidance: experimental evaluation of a haptic training method for a perceptual motor skill , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[21]  Ali Israr,et al.  Expertise-Based Performance Measures in a Virtual Training Environment , 2009, PRESENCE: Teleoperators and Virtual Environments.

[22]  Karon E. MacLean,et al.  Predictive haptic guidance: intelligent user assistance for the control of dynamic tasks , 2006, IEEE Transactions on Visualization and Computer Graphics.

[23]  Vincent Hayward,et al.  Do it yourself haptics: part I , 2007, IEEE Robotics & Automation Magazine.

[24]  Dario Farina,et al.  Assessment of average muscle fiber conduction velocity from surface EMG signals during fatiguing dynamic contractions , 2004, IEEE Transactions on Biomedical Engineering.

[25]  S. Coquillart,et al.  Haptic Guidance Improves the Visuo-Manual Tracking of Trajectories , 2008, PloS one.

[26]  Louis B. Rosenberg,et al.  Virtual fixtures: Perceptual tools for telerobotic manipulation , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[27]  Oussama Khatib,et al.  Human-centered robotics and haptic interaction: from assistance to surgery, the emerging applications , 2002, Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02..