Title:
Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,
Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,
| dc.contributor.author | King, Chih-Hung | en_US |
| dc.contributor.author | Killpack, Marc D. | en_US |
| dc.contributor.author | Kemp, Charles C. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Healthcare Robotics Lab | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-03-10T20:56:25Z | |
| dc.date.available | 2011-03-10T20:56:25Z | |
| dc.date.issued | 2010-07 | |
| dc.description | ©2010 Springer-Verlag Berlin Heidelberg. The original publication is available at www.springerlink.com: http://dx.doi.org/10.1007/978-3-642-14064-8_36 | en_US |
| dc.description | Presented at EuroHaptics 2010, Amsterdam, July 8-10, 2010. | en_US |
| dc.description | DOI: 10.1007/978-3-642-14064-8_36 | en_US |
| dc.description.abstract | Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and compliance on task performance. In this paper, we present a pilot study that we conducted to investigate the effects of force feedback and arm compliance on the performance of a simulated hygiene task. In this study, each subject (n=12) teleoperated a compliant arm to clean dry-erase marks off a mannequin with or without force feedback, and with lower or higher stiffness settings for the robot’s arm. Under all four conditions, subjects successfully removed the dry-erase marks, but trials performed with stiffer settings were completed significantly faster. The presence of force feedback significantly reduced the mean contact force, although the trials took significantly longer. | en_US |
| dc.identifier.citation | King, Chih-Hung; Killpack, Marc ; Kemp, Charles, “Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task,” International Conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010. Proceedings, Part I. Lecture Notes in Computer Science 6191, 2010, 248-255. | en_US |
| dc.identifier.isbn | 978-3-642-14063-1 | |
| dc.identifier.issn | 0302-9743 | |
| dc.identifier.uri | http://hdl.handle.net/1853/37353 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Springer Berlin / Heidelberg | en_US |
| dc.subject | Force feedback | en_US |
| dc.subject | Compliant arm | en_US |
| dc.subject | Teleoperation | en_US |
| dc.subject | Assistive robots | en_US |
| dc.title | Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task, | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Kemp, Charles C. | |
| local.contributor.corporatename | Healthcare Robotics Lab | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | e4f743b9-0557-4889-a16e-00afe0715f4c | |
| relation.isOrgUnitOfPublication | c6394b0e-6e8b-42dc-aeed-0e22560bd6f1 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
Files
Original bundle
1 - 1 of 1