TY - GEN
T1 - Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations
AU - Gongora, Daniel
AU - Nagano, Hikaru
AU - Suzuki, Yosuke
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
N1 - Funding Information:
*This work was partially supported by ImPACT Program “Tough Robotics Challenge.” 1The authors are with the Graduate School of Information Sciences, Tohoku University, Japan. daniel@rm.is.tohoku.ac.jp 2Yosuke Suzuki is with the Institute of Science and Engineering, Kanazawa University, Japan.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - Unnoticed collisions compromise the success of remote exploratory tasks with mobile robots. We propose a vibrotactile stimulation method to represent frontal collisions that is based on the way people perceive impacts on a bar held with both hands. We observed that to estimate the impact point in a bimanual impact localization task people relied on amplitude and duration differences of the impact vibrations delivered to their hands. Then, to apply these results, we obtained a psychophysical function that relates impact points and vibration parameters. Finally, we used a differential drive mobile robot equipped with a high speed tactile sensor on the front bumper to evaluate our method in a simplified teleoperation task. We observed that participants required less time to complete the task when vibrotactile feedback was available.
AB - Unnoticed collisions compromise the success of remote exploratory tasks with mobile robots. We propose a vibrotactile stimulation method to represent frontal collisions that is based on the way people perceive impacts on a bar held with both hands. We observed that to estimate the impact point in a bimanual impact localization task people relied on amplitude and duration differences of the impact vibrations delivered to their hands. Then, to apply these results, we obtained a psychophysical function that relates impact points and vibration parameters. Finally, we used a differential drive mobile robot equipped with a high speed tactile sensor on the front bumper to evaluate our method in a simplified teleoperation task. We observed that participants required less time to complete the task when vibrotactile feedback was available.
UR - http://www.scopus.com/inward/record.url?scp=85028000218&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028000218&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989059
DO - 10.1109/ICRA.2017.7989059
M3 - Conference contribution
AN - SCOPUS:85028000218
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 461
EP - 468
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -