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Cooperative Navigation for Mixed Human–Robot Teams Using Haptic Feedback

机译:使用触觉反馈的人机混合团队协同导航

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摘要

In this paper, we present a novel cooperative navigation control for human–robot teams. Assuming that a human wants to reach a final location in a large environment with the help of a mobile robot, the robot must steer the human from the initial to the target position. The challenges posed by cooperative human–robot navigation are typically addressed by using haptic feedback via physical interaction. In contrast with that, in this paper, we describe a different approach, in which the human–robot interaction is achieved via wearable vibrotactile armbands. In the proposed work, the subject is free to decide her/his own pace. A warning vibrational signal is generated by the haptic armbands when a large deviation with respect to the desired pose is detected by the robot. The proposed method has been evaluated in a large indoor environment, where 15 blindfolded human subjects were asked to follow the haptic cues provided by the robot. The participants had to reach a target area, while avoiding static and dynamic obstacles. Experimental results revealed that the blindfolded subjects were able to avoid the obstacles and safely reach the target in all of the performed trials. A comparison is provided between the results obtained with blindfolded users and experiments performed with sighted people.
机译:在本文中,我们提出了一种针对人机团队的新型协作导航控制。假设人类希望在移动机器人的帮助下到达大型环境中的最终位置,则机器人必须将人类从初始位置引导到目标位置。通常,通过物理交互使用触觉反馈来解决人机协作导航所带来的挑战。与此相反,在本文中,我们描述了一种不同的方法,其中人与机器人的交互是通过可穿戴的触觉臂章来实现的。在拟议的工作中,受试者可以自由决定自己的步调。当机器人检测到相对于所需姿势的较大偏差时,触觉臂带会生成警告振动信号。在大型室内环境中对提出的方法进行了评估,在该环境中,要求15名蒙着眼睛的人类对象遵循机器人提供的触觉提示。参与者必须到达目标区域,同时避免静态和动态障碍。实验结果表明,在所有进行的试验中,被蒙住眼睛的受试者能够避开障碍物并安全地到达目标。在蒙住眼睛的用户获得的结果与有视力的人进行的实验之间进行了比较。

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