On The Evaluation Of Force Feedback Augmented Teleoperation Of Excavator-Like Mobile Manipulators
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE)(2020)
摘要
This paper reports the results of the investigation on the use of force feedback to assist a human operator in the teleoperation of open-pit mining excavators. The proposed force feedback strategy allows object interactions. Also, it enables the operator to sense attractive forces toward the excavation/deposit site as a guidance system, especially useful in precision mining. The methodology was evaluated with multiple experiments to compare the use of haptic feedback and the guidance system. Moreover, a group of volunteers performed the NASA Task Load Index to measure their efforts to teleoperate an integrated off-the-shelf excavator-like mobile robot using different scenarios. Results showed that the force feedback decreases by 8% the power consumption of the excavator, which can represent a significant cost reduction in real applications. Furthermore, the proposed system proves to be a useful tool to the operator allowing task assistance and safety in interaction with obstacles, which can mitigate up to 70% of the stress on the manipulator when there is direct contact with surfaces, e.g., manipulation of rocks and boulders.
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关键词
force feedback augmented teleoperation,excavator-like mobile manipulators,human operator,open-pit mining excavators,force feedback strategy,object interactions,attractive forces,guidance system,precision mining,haptic feedback,NASA Task Load Index,off-the-shelf excavator-like mobile robot,task assistance
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