Tele-manipulation with two asymmetric slaves

van Oosterhout, J.; Heemskerk, Cock J.M.; de Baar, Marco R.; van der Helm, F. C.T.; Abbink, David A.

Tele-manipulation with two asymmetric slaves

Two operators perform better than one

Journal article (2017)

Authors

J. van Oosterhout FOM Institute DIFFER, Human-Robot Interaction

Cock J.M. Heemskerk Heemskerk Innovative Technology B.V.

Marco R. de Baar FOM Institute DIFFER

F. C.T. van der Helm Biomechatronics & Human-Machine Control

David A. Abbink Human-Robot Interaction

Research Group

Human-Robot Interaction

Collaboration Cost function Dyads Tele-manipulation Haptics Standards Remote handling Cranes Maintenance engineering Co-operation Manipulators

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Published Date

2017

Language

English

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Research Group

Human-Robot Interaction

Abstract

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.

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