Comparing end-effector position and joint angle feedback for online robotic limb tracking
Somatosensation greatly increases the ability to control our natural body. This suggests that supplementing vision with haptic sensory feedback would also be helpful when a user aims at controlling a robotic arm proficiently. However, whether the position of the robot and its continuous update shoul...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Public Library of Science (PLoS)
2023-01-01
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| Series: | PLoS ONE |
| Online Access: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10249844/?tool=EBI |
| _version_ | 1797807005559160832 |
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| author | Mattia Pinardi Alessia Noccaro Luigi Raiano Domenico Formica Giovanni Di Pino |
| author_facet | Mattia Pinardi Alessia Noccaro Luigi Raiano Domenico Formica Giovanni Di Pino |
| author_sort | Mattia Pinardi |
| collection | DOAJ |
| description | Somatosensation greatly increases the ability to control our natural body. This suggests that supplementing vision with haptic sensory feedback would also be helpful when a user aims at controlling a robotic arm proficiently. However, whether the position of the robot and its continuous update should be coded in a extrinsic or intrinsic reference frame is not known. Here we compared two different supplementary feedback contents concerning the status of a robotic limb in 2-DoFs configuration: one encoding the Cartesian coordinates of the end-effector of the robotic arm (i.e., Task-space feedback) and another and encoding the robot joints angles (i.e., Joint-space feedback). Feedback was delivered to blindfolded participants through vibrotactile stimulation applied on participants’ leg. After a 1.5-hour training with both feedbacks, participants were significantly more accurate with Task compared to Joint-space feedback, as shown by lower position and aiming errors, albeit not faster (i.e., similar onset delay). However, learning index during training was significantly higher in Joint space feedback compared to Task-space feedback. These results suggest that Task-space feedback is probably more intuitive and more suited for activities which require short training sessions, while Joint space feedback showed potential for long-term improvement. We speculate that the latter, despite performing worse in the present work, might be ultimately more suited for applications requiring long training, such as the control of supernumerary robotic limbs for surgical robotics, heavy industrial manufacturing, or more generally, in the context of human movement augmentation. |
| first_indexed | 2024-03-13T06:16:00Z |
| format | Article |
| id | doaj.art-dbbfecac32054eec83c1e9209c13efe3 |
| institution | Directory Open Access Journal |
| issn | 1932-6203 |
| language | English |
| last_indexed | 2024-03-13T06:16:00Z |
| publishDate | 2023-01-01 |
| publisher | Public Library of Science (PLoS) |
| record_format | Article |
| series | PLoS ONE |
| spelling | doaj.art-dbbfecac32054eec83c1e9209c13efe32023-06-11T05:31:29ZengPublic Library of Science (PLoS)PLoS ONE1932-62032023-01-01186Comparing end-effector position and joint angle feedback for online robotic limb trackingMattia PinardiAlessia NoccaroLuigi RaianoDomenico FormicaGiovanni Di PinoSomatosensation greatly increases the ability to control our natural body. This suggests that supplementing vision with haptic sensory feedback would also be helpful when a user aims at controlling a robotic arm proficiently. However, whether the position of the robot and its continuous update should be coded in a extrinsic or intrinsic reference frame is not known. Here we compared two different supplementary feedback contents concerning the status of a robotic limb in 2-DoFs configuration: one encoding the Cartesian coordinates of the end-effector of the robotic arm (i.e., Task-space feedback) and another and encoding the robot joints angles (i.e., Joint-space feedback). Feedback was delivered to blindfolded participants through vibrotactile stimulation applied on participants’ leg. After a 1.5-hour training with both feedbacks, participants were significantly more accurate with Task compared to Joint-space feedback, as shown by lower position and aiming errors, albeit not faster (i.e., similar onset delay). However, learning index during training was significantly higher in Joint space feedback compared to Task-space feedback. These results suggest that Task-space feedback is probably more intuitive and more suited for activities which require short training sessions, while Joint space feedback showed potential for long-term improvement. We speculate that the latter, despite performing worse in the present work, might be ultimately more suited for applications requiring long training, such as the control of supernumerary robotic limbs for surgical robotics, heavy industrial manufacturing, or more generally, in the context of human movement augmentation.https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10249844/?tool=EBI |
| spellingShingle | Mattia Pinardi Alessia Noccaro Luigi Raiano Domenico Formica Giovanni Di Pino Comparing end-effector position and joint angle feedback for online robotic limb tracking PLoS ONE |
| title | Comparing end-effector position and joint angle feedback for online robotic limb tracking |
| title_full | Comparing end-effector position and joint angle feedback for online robotic limb tracking |
| title_fullStr | Comparing end-effector position and joint angle feedback for online robotic limb tracking |
| title_full_unstemmed | Comparing end-effector position and joint angle feedback for online robotic limb tracking |
| title_short | Comparing end-effector position and joint angle feedback for online robotic limb tracking |
| title_sort | comparing end effector position and joint angle feedback for online robotic limb tracking |
| url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10249844/?tool=EBI |
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