TY - Generic T1 - Cooperative manipulation between humans and teleoperated agents T2 - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS Y1 - 2004 A1 - John Glassmire A1 - O'Malley, M.K. A1 - William Bluethmann A1 - Robert O. Ambrose KW - Computer simulation KW - Feedback KW - Haptic interfaces KW - Human computer interaction KW - Robots KW - Statistical methods AB -

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with DARPA. This paper describes the implementation of haptic feedback into Robonaut. We conducted a cooperative manipulation task, inserting a flexible beam into an instrumented receptacle. This task was performed while both a human at the worksite and the teleoperated robot grasped the flexible beam simultaneously. Peak forces in the receptacle were consistently lower when the human operator was provided with kinesthetic force feedback in addition to other modalities of feedback such as gestures and voice commands. These findings are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

JF - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS CY - Chicago, IL, United States UR - http://dx.doi.org/10.1109/HAPTIC.2004.1287185 N1 -

Robonauts;Haptic feedback;Cooperative manipulation;

ER -