%0 Conference Proceedings %B Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 %D 2003 %T Passive and active assistance for human performance of a simulated underactuated dynamic task %A O'Malley, M.K. %A Abhishek Gupta %K Haptic interfaces %K Virtual reality %X

Machine-mediated training of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback real-time in order to elicit desired motions. This work investigates human performance in a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of number of hits and between-target tap times, is measured while various passive and active control modes are displayed concurrently with the haptic feedback from the simulated system's own dynamic behavior. It Is hypothesized that passive and active assist modes that are implemented during manipulation of simulated underactuated systems could be beneficial in rehabilitation applications. Results indicate that human performance can be improved significantly with the passive and active assist modes

%B Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003 %C Los Angeles, CA, USA %P 348 - 55 %G eng %U http://dx.doi.org/10.1109/HAPTIC.2003.1191308 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2003HAPTICS.pdf %0 Conference Proceedings %B Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) %D 2003 %T Skill transfer in a simulated underactuated dynamic task %A O'Malley, M.K. %A Abhishek Gupta %K computer based training %K Haptic interfaces %K learning (artificial intelligence) %K Virtual reality %X

Machine-mediated teaching of dynamic task completion is typically implemented with passive intervention via virtual fixtures or active assist by means of record and replay strategies. During interaction with a real dynamic system however, the user relies on both visual and haptic feedback in order to elicit desired motions. This work investigates skill transfer from assisted to unassisted modes for a Fitts' type targeting task with an underactuated dynamic system. Performance, in terms of between target tap times, is measured during an unassisted baseline session and during various types of assisted training sessions. It is hypothesized that passive and active assist modes that are implemented during training of a dynamic task could improve skill transfer to a real environment or unassisted simulation of the task. Results indicate that transfer of skill is slight but significant for the assisted training modes

%B Proceedings. RO-Man 2003. The 12th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Cat. No. 03TH8711) %C Millbrae, CA, USA %P 315 - 20 %G eng %U http://dx.doi.org/10.1109/ROMAN.2003.1251864 %> https://mahilab.rice.edu/sites/default/files/publications/omalley2003ieeeskilltrans.pdf