SUMMARYThis paper presents an experimental study on new paradigms of haptic-based teleoperated navigation of underwater vehicles. Specifically, the work is focused on investigating the possibility of enhancing the user interaction by introducing haptic cues at the level of the user wrist providing a force feedback that reflects dynamic forces on the remotely operated underwater vehicle. Different typologies of haptic controllers are conceived and integrated with a real-time simulated model of an underwater robotic vehicle. An experimental test is designed to evaluate the usability of the system and to provide information on the global performance during the execution of simple tasks. Experiments are conducted with 7 candidates testing 12 different controllers. Among these, the most effective strategies have been identified and selected on the basis of minimization of errors on the vehicle trajectory and of the quality of the user’s interaction in terms of perceived comfort during operation. Overall, the results obtained with this study underline that haptic navigation control can have a positive influence on the performance of remotely controlled underwater vehicles.

中文翻译：

---

水下遥操作人机控制界面动力学建模

摘要本文介绍了基于触觉的水下航行器遥控导航新范例的实验研究。具体来说，这项工作的重点是研究通过在用户手腕水平引入触觉提示来增强用户交互的可能性，该触觉提示提供反映远程操作水下航行器动态力的力反馈。构思了不同类型的触觉控制器并将其与水下机器人车辆的实时模拟模型集成。实验测试旨在评估系统的可用性，并在执行简单任务期间提供有关全局性能的信息。实验由 7 个候选者测试 12 个不同的控制器进行。在这些当中，最有效的策略是根据最小化车辆轨迹上的误差和用户在操作过程中感知舒适度方面的交互质量来确定和选择的。总体而言，本研究获得的结果强调触觉导航控制可以对遥控水下航行器的性能产生积极影响。