Shared-Control Teleoperation Paradigms on a Soft-Growing Robot Manipulator

dc.authorscopusid 54891556200
dc.authorscopusid 57188639260
dc.authorscopusid 57207880476
dc.authorscopusid 56336137800
dc.authorscopusid 57190838631
dc.authorscopusid 24780400600
dc.authorscopusid 7103344370
dc.contributor.author Stroppa, F.
dc.contributor.author Stroppa, Fabıo
dc.contributor.author Selvaggio, M.
dc.contributor.author Agharese, N.
dc.contributor.author Luo, M.
dc.contributor.author Blumenschein, L.H.
dc.contributor.author Hawkes, E.W.
dc.contributor.author Okamura, A.M.
dc.contributor.other Computer Engineering
dc.date.accessioned 2023-10-19T15:05:15Z
dc.date.available 2023-10-19T15:05:15Z
dc.date.issued 2023
dc.department-temp Stroppa, F., Computer Engineering Department, Kadir Has University, İstanbul, 34083, Turkey; Selvaggio, M., Electrical Engineering and Information Technology Department, University of Naples Federico II, Naples, 80125, Italy; Agharese, N., Mechanical Engineering Department, Stanford University, Stanford, CA 94305, United States; Luo, M., School of Mechanical and Materials Engineering, Washington State University, Pullman, WA 99163, United States; Blumenschein, L.H., School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, United States; Hawkes, E.W., Mechanical Engineering Department, UC Santa Barbara, Santa Barbara, CA 93105, United States; Okamura, A.M., Mechanical Engineering Department, Stanford University, Stanford, CA 94305, United States en_US
dc.description.abstract Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths while enabling personalized execution of a remote task. For soft robots with kinematic structures dissimilar to those of human operators, it is unknown how the allocation of control between the human and the robot changes the performance. This work presents a set of interaction paradigms between a human and a remote soft-growing robot manipulator, with demonstrations in both real and simulated scenarios. The soft robot can grow and retract by eversion and inversion of its tubular body, a property we exploit in the interaction paradigms. We implemented and tested six different human-robot interaction paradigms, with full teleoperation at one extreme and gradually adding autonomy to various aspects of the task execution. All paradigms are demonstrated by two experts and two naive operators. Results show that humans and the soft robot manipulator can effectively split their control along different degrees of freedom while acting simultaneously to accomplish a task. In the simple pick-and-place task studied in this work, performance improves as the control is gradually given to the robot’s autonomy, especially when the robot can correct certain human errors. However, human engagement is maximized when the control over a task is at least partially shared. Finally, when the human operator is assisted by haptic guidance, which is computed based on soft robot tip position errors, we observed that the improvement in performance is dependent on the expertise of the human operator. © 2023, The Author(s), under exclusive licence to Springer Nature B.V. en_US
dc.description.sponsorship National Science Foundation, NSF: 2024247; Center for Selective C-H Functionalization, National Science Foundation; Center for Hierarchical Manufacturing, National Science Foundation, CHM, NSF; Toyota Research Institute, TRI en_US
dc.description.sponsorship This work was supported in part by Toyota Research Institute (TRI) and National Science Foundation grant 2024247. TRI provided funds to assist the authors with their research but this article solely reflects the opinions and conclusions of its authors and not TRI or any other Toyota entity. en_US
dc.identifier.citationcount 2
dc.identifier.doi 10.1007/s10846-023-01919-x en_US
dc.identifier.issn 0921-0296
dc.identifier.issue 2 en_US
dc.identifier.scopus 2-s2.0-85171859599 en_US
dc.identifier.uri https://doi.org/10.1007/s10846-023-01919-x
dc.identifier.uri https://hdl.handle.net/20.500.12469/4772
dc.identifier.volume 109 en_US
dc.identifier.wosquality Q3
dc.khas 20231019-Scopus en_US
dc.language.iso en en_US
dc.publisher Institute for Ionics en_US
dc.relation.ispartof Journal of Intelligent and Robotic Systems: Theory and Applications en_US
dc.relation.publicationcategory Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/openAccess en_US
dc.scopus.citedbyCount 10
dc.subject Haptics en_US
dc.subject Human-machine interaction en_US
dc.subject Shared control en_US
dc.subject Soft robotics en_US
dc.subject Teleoperation en_US
dc.subject Control theory en_US
dc.subject Degrees of freedom (mechanics) en_US
dc.subject Flexible manipulators en_US
dc.subject Human robot interaction en_US
dc.subject Industrial robots en_US
dc.subject Modular robots en_US
dc.subject Robot applications en_US
dc.subject Haptics en_US
dc.subject Human machine interaction en_US
dc.subject Human operator en_US
dc.subject Interaction paradigm en_US
dc.subject Performance en_US
dc.subject Robots manipulators en_US
dc.subject Shared control en_US
dc.subject Soft robot en_US
dc.subject Soft robotics en_US
dc.subject Telerobotic systems en_US
dc.subject Remote control en_US
dc.title Shared-Control Teleoperation Paradigms on a Soft-Growing Robot Manipulator en_US
dc.type Article en_US
dspace.entity.type Publication
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