@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} }