TY - Generic T1 - On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation T2 - 2019 International Conference on Robotics and Automation (ICRA) Y1 - 2019 A1 - Clark, Janelle P A1 - Lentini, Gianluca A1 - Barontini, Federica A1 - Catalano, Manuel G A1 - Bianchi, Matteo A1 - O’Malley, Marcia K AB - Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured. JF - 2019 International Conference on Robotics and Automation (ICRA) PB - IEEE ER - TY - JOUR T1 - Skin stretch haptic feedback to convey closure information in anthropomorphic, under-actuated upper limb soft prostheses JF - IEEE Transactions on Haptics Y1 - 2019 A1 - Battaglia, Edoardo A1 - Clark, Janelle A1 - Bianchi, Matteo A1 - Catalano, Manuel A1 - Bicchi, Antonio A1 - O'Malley, Marcia VL - 12 ER - TY - JOUR T1 - Spatially Separating Haptic Guidance from Task Dynamics through Wearable Devices. JF - IEEE Trans Haptics Y1 - 2019 A1 - Pezent, Evan A1 - Fani, Simone A1 - Clark, Janelle A1 - Bianchi, Matteo A1 - OMalley, Marcia K AB -
Haptic devices have a high potential for delivering tailored training to novices. These devices can simulate forces associated with real-world tasks, or provide guidance forces that convey task completion and learning strategies. It has been shown, however, that providing both task forces and guidance forces simultaneously through the same haptic interface can lead to novices depending on guidance, being unable to demonstrate skill transfer, or learning the wrong task altogether. This work presents a novel solution whereby task forces are relayed via a kinesthetic haptic interface, while guidance forces are spatially separated through a cutaneous skin stretch modality. We explore different methods of delivering cutaneous based guidance to subjects in a dynamic trajectory following task. We next compare cutaneous guidance to kinesthetic guidance, as is traditional to spatially separated assistance. We further investigate the role of placing cutaneous guidance ipsilateral versus contralateral to the task force device. The efficacies of each guidance condition are compared by examining subject error and movement smoothness. Results show that cutaneous guidance can be as effective as kinesthetic guidance, making it a practical and cost-effective alternative for spatially separated assistance.
VL - 12 ER - TY - Generic T1 - Separating haptic guidance from task dynamics: A practical solution via cutaneous devices T2 - Haptics Symposium (HAPTICS) Y1 - 2018 A1 - Pezent, Evan A1 - Fani, Simone A1 - Bradley, Joshua A1 - Bianchi, Matteo A1 - O'Malley, Marcia K JF - Haptics Symposium (HAPTICS) PB - IEEE CY - San Francisco, CA ER -