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Evaluation Of Haptic Guidance Virtual Fixtures And 3d Visualization Methods In Telemanipulation—A User Study, Kevin Huang, Digesh Chitrakar, Fredrik Rydén, Howard Jay Chizeck
Evaluation Of Haptic Guidance Virtual Fixtures And 3d Visualization Methods In Telemanipulation—A User Study, Kevin Huang, Digesh Chitrakar, Fredrik Rydén, Howard Jay Chizeck
Faculty Scholarship
© 2019, The Author(s). This work presents a user-study evaluation of various visual and haptic feedback modes on a real telemanipulation platform. Of particular interest is the potential for haptic guidance virtual fixtures and 3D-mapping techniques to enhance efficiency and awareness in a simple teleoperated valve turn task. An RGB-Depth camera is used to gather real-time color and geometric data of the remote scene, and the operator is presented with either a monocular color video stream, a 3D-mapping voxel representation of the remote scene, or the ability to place a haptic guidance virtual fixture to help complete the telemanipulation task. …