Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing
Communication delay represents a fundamental challenge in telerobotics: on one hand, it compromises the stability of teleoperated robots, on the other hand, it decreases the user’s awareness of the designated task. In scientific literature, such a problem has been addressed both with statistical mod...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-09-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.730946/full |
| _version_ | 1818578266835910656 |
|---|---|
| author | Leone Costi Luca Scimeca Perla Maiolino Thilina Dulantha Lalitharatne Thrishantha Nanayakkara Ryman Hashem Fumiya Iida |
| author_facet | Leone Costi Luca Scimeca Perla Maiolino Thilina Dulantha Lalitharatne Thrishantha Nanayakkara Ryman Hashem Fumiya Iida |
| author_sort | Leone Costi |
| collection | DOAJ |
| description | Communication delay represents a fundamental challenge in telerobotics: on one hand, it compromises the stability of teleoperated robots, on the other hand, it decreases the user’s awareness of the designated task. In scientific literature, such a problem has been addressed both with statistical models and neural networks (NN) to perform sensor prediction, while keeping the user in full control of the robot’s motion. We propose shared control as a tool to compensate and mitigate the effects of communication delay. Shared control has been proven to enhance precision and speed in reaching and manipulation tasks, especially in the medical and surgical fields. We analyse the effects of added delay and propose a unilateral teleoperated leader-follower architecture that both implements a predictive system and shared control, in a 1-dimensional reaching and recognition task with haptic sensing. We propose four different control modalities of increasing autonomy: non-predictive human control (HC), predictive human control (PHC), (shared) predictive human-robot control (PHRC), and predictive robot control (PRC). When analyzing how the added delay affects the subjects’ performance, the results show that the HC is very sensitive to the delay: users are not able to stop at the desired position and trajectories exhibit wide oscillations. The degree of autonomy introduced is shown to be effective in decreasing the total time requested to accomplish the task. Furthermore, we provide a deep analysis of environmental interaction forces and performed trajectories. Overall, the shared control modality, PHRC, represents a good trade-off, having peak performance in accuracy and task time, a good reaching speed, and a moderate contact with the object of interest. |
| first_indexed | 2024-12-16T06:43:05Z |
| format | Article |
| id | doaj.art-f5d909a54fd04e66820ed24b332d0adc |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-16T06:43:05Z |
| publishDate | 2021-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-f5d909a54fd04e66820ed24b332d0adc2022-12-21T22:40:38ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-09-01810.3389/frobt.2021.730946730946Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile SensingLeone Costi0Luca Scimeca1Perla Maiolino2Thilina Dulantha Lalitharatne3Thrishantha Nanayakkara4Ryman Hashem5Fumiya Iida6Bio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomNAVER AI Lab, NAVER Corp, Seongnam-si, South KoreaOxford Robotics Institute, University of Oxford, Oxford, United KingdomDyson School of Design Engineering, Imperial College London, London, United KingdomDyson School of Design Engineering, Imperial College London, London, United KingdomBio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomBio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United KingdomCommunication delay represents a fundamental challenge in telerobotics: on one hand, it compromises the stability of teleoperated robots, on the other hand, it decreases the user’s awareness of the designated task. In scientific literature, such a problem has been addressed both with statistical models and neural networks (NN) to perform sensor prediction, while keeping the user in full control of the robot’s motion. We propose shared control as a tool to compensate and mitigate the effects of communication delay. Shared control has been proven to enhance precision and speed in reaching and manipulation tasks, especially in the medical and surgical fields. We analyse the effects of added delay and propose a unilateral teleoperated leader-follower architecture that both implements a predictive system and shared control, in a 1-dimensional reaching and recognition task with haptic sensing. We propose four different control modalities of increasing autonomy: non-predictive human control (HC), predictive human control (PHC), (shared) predictive human-robot control (PHRC), and predictive robot control (PRC). When analyzing how the added delay affects the subjects’ performance, the results show that the HC is very sensitive to the delay: users are not able to stop at the desired position and trajectories exhibit wide oscillations. The degree of autonomy introduced is shown to be effective in decreasing the total time requested to accomplish the task. Furthermore, we provide a deep analysis of environmental interaction forces and performed trajectories. Overall, the shared control modality, PHRC, represents a good trade-off, having peak performance in accuracy and task time, a good reaching speed, and a moderate contact with the object of interest.https://www.frontiersin.org/articles/10.3389/frobt.2021.730946/fullshared controlteleoperationcommunication delaybayesian predictorhuman-robot collaboration |
| spellingShingle | Leone Costi Luca Scimeca Perla Maiolino Thilina Dulantha Lalitharatne Thrishantha Nanayakkara Ryman Hashem Fumiya Iida Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing Frontiers in Robotics and AI shared control teleoperation communication delay bayesian predictor human-robot collaboration |
| title | Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing |
| title_full | Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing |
| title_fullStr | Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing |
| title_full_unstemmed | Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing |
| title_short | Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing |
| title_sort | comparative analysis of model based predictive shared control for delayed operation in object reaching and recognition tasks with tactile sensing |
| topic | shared control teleoperation communication delay bayesian predictor human-robot collaboration |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.730946/full |
| work_keys_str_mv | AT leonecosti comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT lucascimeca comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT perlamaiolino comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT thilinadulanthalalitharatne comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT thrishanthananayakkara comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT rymanhashem comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing AT fumiyaiida comparativeanalysisofmodelbasedpredictivesharedcontrolfordelayedoperationinobjectreachingandrecognitiontaskswithtactilesensing |