دورية أكاديمية
Improving Haptic Response for Contextual Human Robot Interaction.
| العنوان: | Improving Haptic Response for Contextual Human Robot Interaction. |
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| المؤلفون: | Mugisha S; Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti, University of Genova, Via All'Opera Pia, 15, 16145 Genova, Italy., Guda VK; CNRS, LS2N, UMR 6004, 1 Rue de la Noë, 44321 Nantes, France., Chevallereau C; CNRS, LS2N, UMR 6004, 1 Rue de la Noë, 44321 Nantes, France., Zoppi M; Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti, University of Genova, Via All'Opera Pia, 15, 16145 Genova, Italy., Molfino R; Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti, University of Genova, Via All'Opera Pia, 15, 16145 Genova, Italy., Chablat D; CNRS, LS2N, UMR 6004, 1 Rue de la Noë, 44321 Nantes, France. |
| المصدر: | Sensors (Basel, Switzerland) [Sensors (Basel)] 2022 Mar 05; Vol. 22 (5). Date of Electronic Publication: 2022 Mar 05. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: MEDLINE |
| أسماء مطبوعة: | Original Publication: Basel, Switzerland : MDPI, c2000- |
| مواضيع طبية MeSH: | Robotics*/methods, Hand/physiology ; Haptic Technology ; Humans ; Motivation ; Upper Extremity |
| مستخلص: | For haptic interaction, a user in a virtual environment needs to interact with proxies attached to a robot. The device must be at the exact location defined in the virtual environment in time. However, due to device limitations, delays are always unavoidable. One of the solutions to improve the device response is to infer human intended motion and move the robot at the earliest time possible to the desired goal. This paper presents an experimental study to improve the prediction time and reduce the robot time taken to reach the desired position. We developed motion strategies based on the hand motion and eye-gaze direction to determine the point of user interaction in a virtual environment. To assess the performance of the strategies, we conducted a subject-based experiment using an exergame for reach and grab tasks designed for upper limb rehabilitation training. The experimental results in this study revealed that eye-gaze-based prediction significantly improved the detection time by 37% and the robot time taken to reach the target by 27%. Further analysis provided more insight on the effect of the eye-gaze window and the hand threshold on the device response for the experimental task. |
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| معلومات مُعتمدة: | ANR-17-CE33 LobbyBot project; ARGE17-992/10/1 regione liguria |
| فهرسة مساهمة: | Keywords: eye–gaze tracking; haptic devices; human–robot interaction; response time; virtual reality |
| تواريخ الأحداث: | Date Created: 20220310 Date Completed: 20220314 Latest Revision: 20220317 |
| رمز التحديث: | 20231215 |
| مُعرف محوري في PubMed: | PMC8914947 |
| DOI: | 10.3390/s22052040 |
| PMID: | 35271188 |
| قاعدة البيانات: | MEDLINE |
Full Text Finder | تدمد: | 1424-8220 |
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| DOI: | 10.3390/s22052040 |