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Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots,10.1109/IROS.2011.6048185,Hyoung Il Son,Lewis L. Ch

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots   (Citations: 1)
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In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoper- ator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Perfor- mance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.
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