Abstract
In order to safely teleoperate an unmanned ground vehicle (UGV) through rough terrain, a human operator needs to be aware of its attitude. This awareness ensures (s)he can avoid rolling or tipping over the UGV, due to steep slopes or terrain depressions. Yet, it has been challenging to develop teleoperation systems that can provide attitude awareness, to human operators. So far, all research has been focused in implementing solutions through visual modality. We take a different approach, using haptic feedback to transmit an UGV's attitude to an human operator. Our novel attitude haptic feedback device (AHFD) provides information about the UGV's roll and pitch, and their direction of rotation, thorugh the use of upper limb proprioception. We also discuss a preliminary user study to understand the influence two different AHFD configurations (natural and ergonomic) have on attitude perception. Our results indicate there is no difference between the two AHFD configuration in judging attitude states and direction of rotations. Yet, natural configuration is perceived as causing higher physical strain and demand, while the ergonomic a higher overall mental effort. We also found participants had more difficulty in judging pitch attitude at higher angles.
Highlights
For successful teleoperation of an unmanned ground vehicle (UGV) in rough terrain, a human operator needs to be aware of the UGV’s attitude
Our results indicate there is no difference between the two attitude haptic feedback device (AHFD) configuration in judging attitude states and direction of rotations
This paper proposes a novel attitude haptic feedback device (AHFD), that uses upper limb proprioception to inform a human operator of a teleoperated UGV’s attitude
Summary
For successful teleoperation of an unmanned ground vehicle (UGV) in rough terrain, a human operator needs to be aware of the UGV’s attitude. In a remote teleoperation task the attitude awareness of an UGV is very difficult This is due to the human operator just seeing what is happening to the robot through its onboard cameras [1]. The view from the Solem camera was disorienting when the robot was right side up, when it rolled over the camera images did not provide any information of what had happened. This can be attributed to the fixed on-board cameras in the mobile robot. If the mobile robot is in an inclined position a horizontal area appears sloped [3]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
