000266377 001__ 266377
000266377 005__ 20190823093808.0
000266377 020__ $$a978-3-319-93399-3
000266377 020__ $$a978-3-319-93398-6
000266377 022__ $$a0302-9743
000266377 022__ $$a1611-3349
000266377 0247_ $$a10.1007/978-3-319-93399-3_35$$2doi
000266377 02470 $$2isi$$a000458561800035
000266377 037__ $$aCONF
000266377 245__ $$aHaptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation
000266377 269__ $$a2018-01-01
000266377 260__ $$c2018-01-01$$bSPRINGER INTERNATIONAL PUBLISHING AG$$aCham
000266377 336__ $$aConference Papers
000266377 490__ $$aLecture Notes in Computer Science
000266377 520__ $$aHaptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we developed a suit to control drones with upper body movement, called the FlyJacket. In this paper, we present the integration of a cable-driven haptic guidance in the FlyJacket. The aim of the device is to apply a force relative to the distance between the drone and a predetermined trajectory to correct user torso orientation and improve the flight precision. Participants (n = 10) flying a simulated fixed-wing drone controlled with torso movements tested four different guidance profiles (three linear profiles with different stiffness and one quadratic). Our results show that a quadratically shaped guidance, which gives a weak force when the error is small and a strong force when the error becomes significant, was the most effective guidance to improve the performance. All participants also reported through questionnaires that the haptic guidance was useful for flight control.
000266377 650__ $$aComputer Science, Cybernetics
000266377 650__ $$aComputer Science, Interdisciplinary Applications
000266377 650__ $$aComputer Science, Theory & Methods
000266377 650__ $$aComputer Science
000266377 6531_ $$awearable haptics and exoskeletons
000266377 6531_ $$ateleoperation and telepresence
000266377 6531_ $$arobotics
000266377 6531_ $$aextension
000266377 6531_ $$arobot
000266377 6531_ $$ainterface
000266377 6531_ $$astiffness
000266377 6531_ $$aflexion
000266377 700__ $$aRognon, Carine$$0249332$$g184989
000266377 700__ $$aWu, Amy R.$$0249468$$g263710
000266377 700__ $$aMintchev, Stefano$$0251548$$g234821
000266377 700__ $$aIjspeert, Auke$$0241344$$g115955
000266377 700__ $$aFloreano, Dario$$0240742$$g111729
000266377 7112_ $$a11th International Conference on Haptics - Science, Technology, and Applications (EuroHaptics)$$dJun 13-16, 2018$$cPisa, ITALY
000266377 773__ $$q404-415$$j10894$$tHaptics: Science, Technology, And Applications, Pt Ii
000266377 8560_ $$fcarine.rognon@epfl.ch
000266377 8564_ $$s1111051$$uhttps://infoscience.epfl.ch/record/266377/files/Haptic%20Guidance%20with%20a%20Soft%20Exoskeleton%20Reduces%20Error%20in%20Drone%20Teleoperation.pdf
000266377 909C0 $$yApproved$$0252161$$pLIS$$mdario.floreano@epfl.ch$$zMarselli, Béatrice$$xU10370
000266377 909C0 $$yApproved$$pBIOROB$$xU12165$$mauke.ijspeert@epfl.ch$$zMarselli, Béatrice$$0252049
000266377 909CO $$pconf$$pSTI$$ooai:infoscience.epfl.ch:266377
000266377 910C0 $$mcarole.berthet@epfl.ch$$zMarselli, Béatrice$$xU12520$$yDeclined$$0252462$$pRRL
000266377 961__ $$abeatrice.marselli@epfl.ch
000266377 973__ $$rREVIEWED$$aEPFL
000266377 981__ $$aoverwrite
000266377 980__ $$aCONF