This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type for mobile manipulators in open environments, particularly for quadruped manipulators. However, mobile manipulators, especially quadruped manipulators, are relatively novel systems to be implemented in the industry compared to traditional machinery. Consequently, no standardized interface evaluation method has been established for them. The proposed scheme is the first of its kind in evaluating mobile manipulator teleoperation. It comprises a set of robot motion tests, objective measures, subjective measures, and a prediction model to provide a comprehensive evaluation. The motion tests encompass locomotion, manipulation, and a combined test. The duration for each trial is collected as the response variable in the objective measure. Statistical tools, including mean value, standard deviation, and T-test, are utilized to cross-compare between different predictor variables. Based on an extended Fitts' law, the prediction model employs the time and mission difficulty index to forecast system performance in future missions. The subjective measures utilize the NASA-task load index and the system usability scale to assess workload and usability. Finally, the proposed scheme is implemented on a real-world quadruped manipulator with two widely-used HRTIs, the gamepad and the wearable motion capture system.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation


    Beteiligte:
    Wan, Y (Autor:in) / Sun, J (Autor:in) / Peers, C (Autor:in) / Humphreys, J (Autor:in) / Kanoulas, D (Autor:in) / Zhou, C (Autor:in)

    Erscheinungsdatum :

    13.07.2023


    Anmerkungen:

    IEEE Transactions on Human-Machine Systems pp. 1-11. (2023) (In press).


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Teleoperation of free-floating space manipulator systems

    Papadopoulos, Evangelos G. | SPIE | 1993


    Teleoperation Assist System for All-terrain Mobile Manipulator in Narrow and Rough Environment

    Komura, Takaomi / Kiribayashi, Seiga / Nagatani, Keiji | British Library Online Contents | 2017


    Singularity-consistent teleoperation of a 6-DOF manipulator

    Tsumaki, Y. / Kotera, S. / Nenehev, D. N. et al. | British Library Online Contents | 1998


    Control Scheme and Kinematics Analysis for Space Teleoperation Based on 6-DOF Decoupled Manipulator

    Wang, Y. / Sun, F. / Liu, H. et al. | British Library Online Contents | 2012


    Adaptive bilateral control for underwater manipulator in uncertainty teleoperation

    Zhang, Jianjun / Liu, Weidong / Gao, Li'e et al. | British Library Online Contents | 2018