A haptic guidance generic approach
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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