@article {2011q-SonFraChuKimBueRob, title = {Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots}, journal = {IEEE Transactions on Systems, Man, \& Cybernetics. Part B: Cybernetics}, volume = {43}, year = {2013}, month = {04/2013}, pages = {597-609}, abstract = {In this paper, we investigate the effect of haptic cueing on human operator{\textquoteright}s performance in the field of bilateral teleoperation of multiple mobile robots, in particular multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely the maneuverability of mobile robots and perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocity of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in teleoperator{\textquoteright}s performance.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysical evaluation of haptic feedback, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2013a-SonFraChuKimBueRob_1.pdf}, author = {Hyoung Il Son and Antonio Franchi and Lewis L. Chuang and Junsuk Kim and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} } @conference {2011d-SonKimChuFraRobLeeBue, title = {An Evaluation of Haptic Cues on the Tele-Operator{\textquoteright}s Perceptual Awareness of Multiple UAVs{\textquoteright} Environments}, booktitle = { IEEE – World Haptics Conference}, year = {2011}, month = {06/2011}, pages = {149-154}, address = {Istanbul, Turkey}, abstract = {The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First, we describe a control scheme that allows a teleoperator to manipulate the flight of multiple UAVs in a remote environment. Next, we present three designs of haptic cue feedback that could increase the teleoperator{\textquoteright}s environmental awareness of such a remote environment. These cues are based on the UAVs{\textquoteright} i) velocity information, ii) proximity to obstacles, and iii) a combination of these two sources of information. Finally, we present an experimental evaluation of these haptic cue designs. Our evaluation is based on the teleoperator{\textquoteright}s perceptual sensitivity to the physical environment inhabited by the multiple UAVs. We conclude that a teleoperator{\textquoteright}s perceptual sensitivity is best served by haptic feedback cues that are based on the velocity information of multiple UAVs.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011d-SonKimChuFraRobLeeBue-preprint.pdf}, author = {Hyoung Il Son and Junsuk Kim and Lewis L. Chuang and Antonio Franchi and Paolo Robuffo Giordano and Dongjun Lee and Heinrich H. B{\"u}lthoff} } @conference {2011h-SonChuFraKimLeeLeeBueRob, title = {Measuring an Operator{\textquoteright}s Maneuverability Performance in the Haptic Teleoperation of Multiple Robots}, booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {2011}, month = {09/2011}, pages = {3039-3046}, address = {San Francisco, CA}, abstract = {In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator{\textquoteright}s interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator{\textquoteright}s frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.}, keywords = {Evaluation, Force feedback, Haptics, Multi-robot systems, Psychophysics, Teleoperation}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011h-SonChuFraKimLeeLeeBueRob-preprint.pdf}, author = {Hyoung Il Son and Lewis L. Chuang and Antonio Franchi and Junsuk Kim and Dongjun Lee and Seong-Whan Lee and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano} }