Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations
Daniel Gongora, Hikaru Nagano, Yosuke Suzuki, Masashi Konyo, Satoshi Tadokoro
Abstract
Unnoticed collisions compromise the success of remote exploratory tasks with mobile robots. We propose a vibrotactile stimulation method to represent frontal collisions that is based on the way people perceive impacts on a bar held with both hands. We observed that to estimate the impact point in a bimanual impact localization task people relied on amplitude and duration differences of the impact vibrations delivered to their hands. Then, to apply these results, we obtained a psychophysical function that relates impact points and vibration parameters. Finally, we used a differential drive mobile robot equipped with a high speed tactile sensor on the front bumper to evaluate our method in a simplified teleoperation task. We observed that participants required less time to complete the task when vibrotactile feedback was available.
BibTeX
@inproceedings{icra2017_collisionreprese,
title = {Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations},
author = {Daniel Gongora and Hikaru Nagano and Yosuke Suzuki and Masashi Konyo and Satoshi Tadokoro},
booktitle = {ICRA 2017},
year = {2017}
}