Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array
| Autor: | Hosam Alagi, Björn Hein, Jan Hergenhan, Stefan Escaida Navarro, Selma Music |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Modality (human–computer interaction)
business.industry 05 social sciences 030206 dentistry Workspace Object (computer science) 050601 international relations 0506 political science 03 medical and health sciences 0302 clinical medicine Sensor array Proximity sensor Distortion Teleoperation Robot Medicine Computer vision Artificial intelligence business |
| Zdroj: | I2MTC |
| DOI: | 10.1109/i2mtc43012.2020.9128701 |
| Popis: | In this paper, we show our novel teleoperation system that mediates proximity perception at the slave system as tactile information to the user. We have equipped a robot’s end-effector with a capacitive proximity sensor array. Based on the proximity information, tactile feedback is generated for the user via a tactile display. Thus, the user can feel some of an object’s features through his fingers, without the need for establishing contact between the slave system and the object. In our setting, the proximity sensing-based feedback complements the visual feedback provided by a workspace camera and a robot tool camera. Both the sensor array and the tactile display, have a spatial resolution of 4×4. To evaluate the impact, we conducted a user study covering scenarios with visual occlusion and distortion in pre-touch and pre-manipulation phases. The study revealed an improvement in the accuracy of positioning of the end-effector when the visual and the tactile feedback were both provided to the user. The study also showed high acceptance of the new modality by the users. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|