Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration

Abstract

Construction robot telegrasping operation provides considerable challenges in postdisaster recovery missions. This paper presents an evaluation of construction robot telegrasping force perception, which integrates the use of visual, auditory and force feedback systems. The integration of graphically-presented feedback force is proposed to help operators visually monitor changes in grasping force. Auditory feedback is used simultaneously to provide rapid warnings, while force feedback enhances grasping sense. Sensitivity to each type of feedback is measured by using psychophysical tests, and manipulation tests are conducted to observe effects on the gripping risk index, task completion time and subjective workload. Results validate the need for multimodal sensory feedback, for accurately controlling the grasping process, and for avoiding unnecessary action due to human error.