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Contact-initiated shared control strategies for four-arm supernumerary manipulation with foot interfaces
The International Journal of Robotics Research ( IF 7.5 ) Pub Date : 2021-06-23 , DOI: 10.1177/02783649211017642
Walid Amanhoud 1 , Jacob Hernandez Sanchez 1, 2 , Mohamed Bouri 2, 3 , Aude Billard 1
Affiliation  

In industrial or surgical settings, to achieve many tasks successfully, at least two people are needed. To this end, robotic assistance could be used to enable a single person to perform such tasks alone, with the help of robots through direct, shared, or autonomous control. We are interested in four-arm manipulation scenarios, where both feet are used to control two robotic arms via bi-pedal haptic interfaces. The robotic arms complement the tasks of the biological arms, for instance, in supporting and moving an object while working on it (using both hands). To reduce fatigue, cognitive workload, and to ease the execution of the foot manipulation, we propose two types of assistance that can be enabled upon contact with the object (i.e., based on the interaction forces): autonomous-contact force generation and auto-coordination of the robotic arms. The latter relates to controlling both arms with a single foot, once the object is grasped. We designed four (shared) control strategies that are derived from the combinations (absence/presence) of both assistance modalities, and we compared them through a user study (with 12 participants) on a four-arm manipulation task. The results show that force assistance positively improves human–robot fluency in the four-arm task, the ease of use and usefulness; it also reduces the fatigue. Finally, to make the dual-assistance approach the preferred and most successful among the proposed control strategies, delegating the grasping force to the robotic arms is a crucial factor when controlling them both with a single foot.



中文翻译:

具有脚接口的四臂编外操作的接触启动共享控制策略

在工业或手术环境中,要成功完成许多任务,至少需要两个人。为此,可以使用机器人辅助,在机器人的帮助下,通过直接、共享或自主控制,使一个人能够单独执行此类任务。我们对四臂操作场景感兴趣,其中双脚用于通过双踏板触觉接口控制两个机械臂。机器人手臂补充了生物手臂的任务,例如,在工作时支撑和移动物体(使用双手)。为了减少疲劳、认知工作量并简化足部操作的执行,我们提出了两种类型的辅助,可以在与物体接触时启用(即基于相互作用力):自主接触力生成和自动接触力机械臂的协调。后者涉及在抓住物体后用一只脚控制双臂。我们设计了四种(共享)控制策略,这些策略源自两种辅助方式的组合(不存在/存在),并且我们通过对四臂操作任务的用户研究(有 12 名参与者)对它们进行了比较。结果表明,力辅助积极提高了四臂任务中人机流畅性、易用性和实用性;它还可以减少疲劳。最后,为了使双辅助方法成为所提出的控制策略中首选和最成功的方法,将抓取力分配给机械臂是用单脚控制它们时的关键因素。我们设计了四种(共享)控制策略,这些策略源自两种辅助方式的组合(不存在/存在),并且我们通过对四臂操作任务的用户研究(有 12 名参与者)对它们进行了比较。结果表明,力辅助积极提高了四臂任务中人机流畅性、易用性和实用性;它还可以减少疲劳。最后,为了使双辅助方法成为所提出的控制策略中首选和最成功的方法,将抓取力分配给机械臂是用单脚控制它们时的关键因素。我们设计了四种(共享)控制策略,这些策略源自两种辅助方式的组合(不存在/存在),并且我们通过对四臂操作任务的用户研究(有 12 名参与者)对它们进行了比较。结果表明,力辅助积极提高了四臂任务中人机流畅性、易用性和实用性;它还可以减少疲劳。最后,为了使双辅助方法成为所提出的控制策略中首选和最成功的方法,将抓取力分配给机械臂是用单脚控制它们时的关键因素。结果表明,力辅助积极提高了四臂任务中人机流畅性、易用性和实用性;它还可以减少疲劳。最后,为了使双辅助方法成为所提出的控制策略中首选和最成功的方法,将抓取力分配给机械臂是用单脚控制它们时的关键因素。结果表明,力辅助积极提高了四臂任务中人机流畅性、易用性和实用性;它还可以减少疲劳。最后,为了使双辅助方法成为所提出的控制策略中首选和最成功的方法,将抓取力分配给机械臂是用单脚控制它们时的关键因素。

更新日期:2021-06-24
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