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Poster Année : 2023

A haptic guidance generic approach

David Daney
Margot Vulliez
Romain Schmitt
  • Fonction : chef de projet
Arthur Bonastre
  • Fonction : chef de projet

Résumé

In teleoperation, as in the majority of methods employed in human-robot interac- tion, the challenge lies in maintaining task efficiency by ensuring clear and efficient interaction. This is especially true for collaborative tasks, where the robot should be able to perform simple subtasks autonomously, and help the human operator with the more difficult tasks. Shared-autonomy methods can be suggested to meet this objec- tive, such as focusing on the distribution of subtasks between agent or blending human and robot behaviors into a joint command. This work focuses on guiding the human through haptic guidance, while allowing them a certain amount of freedom . Known as virtual fixture, active constraint or virtual guide, a haptic guidance is a virtual geometric constraint used to generate a force feedback that force an user following a behaviour (Rosenberg 1993, Passenberg 2010). The different definitions are strongly linked to the tasks studied whether surgery (Yang 2020), navigation (Lee 2022) or pick&place (Raiola 2018). They also are not limited to teleoperation but can be use on physical human robot interaction (Al-Saadi 2023) and programing by demonstration (Restreop 2020). This task dependency highlights that there is no unified formalism to model haptic guidance (Bowyer 2014). Perhaps, common computation methods can be identified for the generation of guide such as the use of spring-damper models (SD) (Raiola 2018), the definition of potential fields (PF) (Gottardi 2022) or the establishment of restrictive zones with guiding tubes (GT) (Bettini 2004).
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Dates et versions

hal-04334395 , version 1 (11-12-2023)

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  • HAL Id : hal-04334395 , version 1

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Alexis Boulay, David Daney, Margot Vulliez, Romain Schmitt, Arthur Bonastre. A haptic guidance generic approach. JJCR 2023 - Journée des Jeunes Chercheurs en Robotique, Oct 2023, Moliets-et-Maâ, France. ⟨hal-04334395⟩
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