1,185 research outputs found
A Tele-Operated Display With a Predictive Display Algorithm
Tele-operated display systems with head mounted displays (HMD) are becoming popular as visual feedback systems for tele-operation systems. However, the users are suffered from time-varying bidirectional delays caused by the latency and limited bandwidth of wireless communication networks. Here, we develop a tele-operated display system and a predictive display algorithm allowing comfortable use of HMDs by operators of tele-operation systems. Inspired by the kinematic model of the human head-neck complex, we built a robot neck-camera system to capture the field of view in any desired orientation. To reduce the negative effects of the time-varying bidirectional communication delay and operation delay of the robot neck, we developed a predictive display algorithm based on a kinematic model of the human/robot neck-camera system, and a geometrical model of a camera. Experimental results showed that the system provide predicted images with high frame rate to the user
Network Representation and Passivity of Delayed Teleoperation Systems
The paper proposes a general network based
analysis and design guidelines for teleoperation systems. The
electrical domain is appealing because it enjoys proficient analysis
and design tools and allows a one step higher abstraction
element, the network. Thus, in order to analyze the system by
means of network elements the mechanical system must be first
modeled as an electric circuit. Only then power ports become
apparent and networks can be defined. This kind of analysis
has been previously performed in systems with well defined
causalities, specially in the communication channel. Indeed,
a communication channel exchanging flow-like and effort-like
signals, as for instance velocity and computed force, has a
well defined causality and can thus be directly mapped as a
two-port electrical network. However, this is only one of the
many possible system architectures. This paper investigates how
other architectures, including those with ambiguous causalities,
can be modeled by means of networks, even in the lack of
flow or effort being transmitted, and how they can be made
passive for any communication channel characteristic (delay,
package-loss and jitter). The methods are exposed in the form
of design guidelines sustained with an example and validated
with experimental results
Neural Dynamics of Delayed Feedback in Robot Teleoperation: Insights from fNIRS Analysis
As robot teleoperation increasingly becomes integral in executing tasks in
distant, hazardous, or inaccessible environments, the challenge of operational
delays remains a significant obstacle. These delays are inherent in signal
transmission and processing and can adversely affect the operators performance,
particularly in tasks requiring precision and timeliness. While current
research has made strides in mitigating these delays through advanced control
strategies and training methods, a crucial gap persists in understanding the
neurofunctional impacts of these delays and the efficacy of countermeasures
from a cognitive perspective. Our study narrows this gap by leveraging
functional Near-Infrared Spectroscopy (fNIRS) to examine the neurofunctional
implications of simulated haptic feedback on cognitive activity and motor
coordination under delayed conditions. In a human-subject experiment (N=41), we
manipulated sensory feedback to observe its influences on various brain regions
of interest (ROIs) response during teleoperation tasks. The fNIRS data provided
a detailed assessment of cerebral activity, particularly in ROIs implicated in
time perception and the execution of precise movements. Our results reveal that
certain conditions, which provided immediate simulated haptic feedback,
significantly optimized neural functions related to time perception and motor
coordination, and improved motor performance. These findings provide empirical
evidence about the neurofunctional basis of the enhanced motor performance with
simulated synthetic force feedback in the presence of teleoperation delays.Comment: Submitted to Frontiers in Human Neuroscienc
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
Brain Functional Connectivity under Teleoperation Latency: a fNIRS Study
Objective: This study aims to understand the cognitive impact of latency in
teleoperation and the related mitigation methods, using functional
Near-Infrared Spectroscopy (fNIRS) to analyze functional connectivity.
Background: Latency between command, execution, and feedback in teleoperation
can impair performance and affect operators mental state. The neural
underpinnings of these effects are not well understood. Method: A human subject
experiment (n = 41) of a simulated remote robot manipulation task was
performed. Three conditions were tested: no latency, with visual and haptic
latency, with visual latency and no haptic latency. fNIRS and performance data
were recorded and analyzed. Results: The presence of latency in teleoperation
significantly increased functional connectivity within and between prefrontal
and motor cortexes. Maintaining visual latency while providing real-time haptic
feedback reduced the average functional connectivity in all cortical networks
and showed a significantly different connectivity ratio within prefrontal and
motor cortical networks. The performance results showed the worst performance
in the all-delayed condition and best performance in no latency condition,
which echoes the neural activity patterns. Conclusion: The study provides
neurological evidence that latency in teleoperation increases cognitive load,
anxiety, and challenges in motion planning and control. Real-time haptic
feedback, however, positively influences neural pathways related to cognition,
decision-making, and sensorimotor processes. Application: This research can
inform the design of ergonomic teleoperation systems that mitigate the effects
of latency.Comment: Submitted to Human Factor
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