Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations

Daniel Gongora, Hikaru Nagano, Yosuke Suzuki, Masashi Konyo, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages461-468
Number of pages8
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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