Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task

Keywords

force feedback, compliant arm, teleoperation, assistive robots

Abstract

Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and compliance on task performance. In this paper, we present a pilot study that we conducted to investigate the effects of force feedback and arm compliance on the performance of a simulated hygiene task. In this study, each subject (n=12) teleoperated a compliant arm to clean dry-erase marks off a mannequin with or without force feedback, and with lower or higher stiffness settings for the robot’s arm. Under all four conditions, subjects successfully removed the dry-erase marks, but trials performed with stiffer settings were completed significantly faster. The presence of force feedback significantly reduced the mean contact force, although the trials took significantly longer.

Document Type

Peer-Reviewed Article

Publication Date

2010-7

Permanent URL

http://hdl.lib.byu.edu/1877/6034

Publisher

International Conference on Human Haptic Sensing and Touch Enabled Computer Applications

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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