Submitted by Dane Powell on
Title | The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms |
Publication Type | Journal Article |
Year of Publication | 2012 |
Authors | Powell, D, O'Malley, MK |
Journal | {IEEE} Transactions on Haptics |
Volume | 5 |
Issue | 3 |
Pagination | 208 –219 |
ISSN | 1939-1412 |
Abstract | Shared-control haptic guidance is a common form of robot-mediated training used to teach novice subjects to perform dynamic tasks. Shared-control guidance is distinct from more traditional guidance controllers, such as virtual fixtures, in that it provides novices with real-time visual and haptic feedback from a real or virtual expert. Previous studies have shown varying levels of training efficacy using shared-control guidance paradigms; it is hypothesized that these mixed results are due to interactions between specific guidance implementations ( {amp;\#x201C;paradigms} {amp;\#x201D;)} and tasks. This work proposes a novel guidance paradigm taxonomy intended to help classify and compare the multitude of implementations in the literature, as well as a revised proxy rendering model to allow for the implementation of more complex guidance paradigms. The efficacies of four common paradigms are compared in a controlled study with 50 healthy subjects and two dynamic tasks. The results show that guidance paradigms must be matched to a task's dynamic characteristics to elicit effective training and low workload. Based on these results, we provide suggestions for the future development of improved haptic guidance paradigms. |
DOI | 10.1109/TOH.2012.40 |
Citation Key | powell_task |