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In this video we present a teleoperation system which is capable of solving complex tasks in human-sized wide area environments. The system consists of two mobile teleoperators controlled by two operators, and offers haptic, visual, and auditory feedback. The task examined here, consists of repairing a robot by removing a computer and replacing a defective hard-drive. To cope with the complexity of...
A classification of model-mediated teleoperation systems according to the model type and its application is introduced. While models of the human operator estimating position trajectories have been already applied in teleoperation, in the present paper, we propose the incorporation of force-based human haptic interaction models. This new approach allows to transfer the strength of advanced model-mediated...
Although it is reported in the literature that haptic feedback leads to improved performance in kinesthetic collaborative tasks, it has not been investigated so far whether this advantage is accompanied by a higher physical workload. This paper is an initial effort to examine efficiency in haptic interaction: We relate physical effort to a performance outcome in a virtual pursuit tracking task. An...
Achieving natural and intuitive interaction is one of the main challenges in physical human-robot interaction. We approach this challenge by modeling haptic human-human interaction with the final goal of transferring found relationships to human-robot interaction. The focus of this paper is on two human operators performing collaboratively a joint object manipulation, i.e. a pursuit tracking task...
Recent research focuses on developing robots that are meant to be partners of humans instead of pure machines. This makes enhanced communication necessary. Especially in scenarios embedding physical interaction between the two partners dominance is an urgent matter. To overcome one-sided dominance as in passive following or trajectory replay in favor of intuitive collaboration, human-human collaboration...
In order to enable intuitive physical interaction with autonomous robots as well as in collaborative multi-user virtual reality and tele-operation systems a deep understanding of human-human haptic interaction is required. In this paper the effect of haptic interaction in single and dyadic conditions is investigated. Furthermore, an energy-based framework suitable for the analysis of the underlying...
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