User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home

In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments

Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 341)

This bibliography lists 133 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September 1990. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental strain. Even with advanced technology, mitigating these delays, especially in long-distance operations, remains challenging. Current solutions largely focus on machine-based adjustments. Yet, there's a gap in using human perceptions to improve the teleoperation experience. This paper presents a unique method of sensory manipulation to help humans adapt to such delays. Drawing from motor learning principles, it suggests that modifying sensory stimuli can lessen the perception of these delays. Instead of introducing new skills, the approach uses existing motor coordination knowledge. The aim is to minimize the need for extensive training or complex automation. A study with 41 participants explored the effects of altered haptic cues in delayed teleoperations. These cues were sourced from advanced physics engines and robot sensors. Results highlighted benefits like reduced task time and improved perceptions of visual delays. Real-time haptic feedback significantly contributed to reduced mental strain and increased confidence. This research emphasizes human adaptation as a key element in robot teleoperation, advocating for improved teleoperation efficiency via swift human adaptation, rather than solely optimizing robots for delay adjustment.Comment: Submitted to Scientific Report

Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities

We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows