Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,

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Title: Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,
Author: King, Chih-Hung ; Killpack, Marc D. ; Kemp, Charles C.
Abstract: Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and compliance on task performance. In this paper, we present a pilot study that we conducted to investigate the effects of force feedback and arm compliance on the performance of a simulated hygiene task. In this study, each subject (n=12) teleoperated a compliant arm to clean dry-erase marks off a mannequin with or without force feedback, and with lower or higher stiffness settings for the robot’s arm. Under all four conditions, subjects successfully removed the dry-erase marks, but trials performed with stiffer settings were completed significantly faster. The presence of force feedback significantly reduced the mean contact force, although the trials took significantly longer.
Description: ©2010 Springer-Verlag Berlin Heidelberg. The original publication is available at www.springerlink.com: http://dx.doi.org/10.1007/978-3-642-14064-8_36 Presented at EuroHaptics 2010, Amsterdam, July 8-10, 2010. DOI: 10.1007/978-3-642-14064-8_36
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/37353
ISSN: 0302-9743
ISBN: 978-3-642-14063-1
Citation: King, Chih-Hung; Killpack, Marc ; Kemp, Charles, “Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,” International Conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010. Proceedings, Part I. Lecture Notes in Computer Science 6191, 2010, 248-255.
Date: 2010-07
Contributor: Georgia Institute of Technology. Healthcare Robotics Lab
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Springer Berlin / Heidelberg
Subject: Force feedback
Compliant arm
Teleoperation
Assistive robots

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