TY - JOUR
T1 - Haptic guidance on demand
T2 - A grip-force based scheduling of guidance forces
AU - Smisek, Jan
AU - Mugge, Winfred
AU - Smeets, Jeroen B J
AU - van Paassen, Marinus M.
AU - Schiele, Andre
N1 - Accepted Author Manuscript
PY - 2018
Y1 - 2018
N2 - In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally investigate an adaptable authority HSC system that provides the operator with a direct way to adjust the control authority based on applied grip force. This system can serve as an intuitive ‘override’ function in case of HSC system malfunction. In a position tracking task, we explore two opposite approaches to adapt the control authority: increasing versus decreasing guidance strength with operator grip. These approaches were compared with unassisted control and two levels of fixed-level haptic guidance. Results show that the grip-adaptable approach allowed the operators to increase performance over unassisted control and over a weak guidance. At the same time, the approach substantially reduced the operator physical control effort required to cope with HSC system disturbances. Predictions based on the formalized model of the complete human-in-the-loop system corresponded to the experimental results, implying that such validated formalization can be used for model-based design of guidance systems.
AB - In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally investigate an adaptable authority HSC system that provides the operator with a direct way to adjust the control authority based on applied grip force. This system can serve as an intuitive ‘override’ function in case of HSC system malfunction. In a position tracking task, we explore two opposite approaches to adapt the control authority: increasing versus decreasing guidance strength with operator grip. These approaches were compared with unassisted control and two levels of fixed-level haptic guidance. Results show that the grip-adaptable approach allowed the operators to increase performance over unassisted control and over a weak guidance. At the same time, the approach substantially reduced the operator physical control effort required to cope with HSC system disturbances. Predictions based on the formalized model of the complete human-in-the-loop system corresponded to the experimental results, implying that such validated formalization can be used for model-based design of guidance systems.
KW - Dynamic Systems and Control
KW - Force
KW - Force measurement
KW - Haptic interfaces
KW - Human Performance
KW - Neuromuscular
KW - System Design and Analysis
KW - Trajectory
UR - http://www.scopus.com/inward/record.url?scp=85035767355&partnerID=8YFLogxK
UR - http://resolver.tudelft.nl/uuid:39d50ec6-6f82-453d-9cbf-011a71ea5c8b
U2 - 10.1109/TOH.2017.2777855
DO - 10.1109/TOH.2017.2777855
M3 - Article
AN - SCOPUS:85035767355
SN - 1939-1412
VL - 11
SP - 255
EP - 266
JO - IEEE Transactions on Haptics
JF - IEEE Transactions on Haptics
IS - 2
ER -