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Corujeira, J., Silva, J. L. & Ventura, R. (2018). Attitude perception of an unmanned ground vehicle using an attitude haptic feedback device. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). (pp. 356-363). Nanjing: IEEE.

J. Corujeira et al.,  "Attitude perception of an unmanned ground vehicle using an attitude haptic feedback device", in 2018 27th IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), Nanjing, IEEE, 2018, pp. 356-363

@inproceedings{corujeira2018_1714721551067,
	author = "Corujeira, J. and Silva, J. L. and Ventura, R.",
	title = "Attitude perception of an unmanned ground vehicle using an attitude haptic feedback device",
	booktitle = "2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)",
	year = "2018",
	editor = "",
	volume = "",
	number = "",
	series = "",
	doi = "10.1109/ROMAN.2018.8525693",
	pages = "356-363",
	publisher = "IEEE",
	address = "Nanjing",
	organization = "",
	url = "https://ieeexplore.ieee.org/abstract/document/8525693"
}

TY  - CPAPER
TI  - Attitude perception of an unmanned ground vehicle using an attitude haptic feedback device
T2  - 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)
AU  - Corujeira, J.
AU  - Silva, J. L.
AU  - Ventura, R.
PY  - 2018
SP  - 356-363
SN  - 1944-9437
DO  - 10.1109/ROMAN.2018.8525693
CY  - Nanjing
UR  - https://ieeexplore.ieee.org/abstract/document/8525693
AB  - In order to safely teleoperate an unmanned ground vehicle (UGV) through rough terrain, a human operator needs to be aware of its attitude. This awareness ensures (s)he can avoid rolling or tipping over the UGV, due to steep slopes or terrain depressions. Yet, it has been challenging to develop teleoperation systems that can provide attitude awareness, to human operators. So far, all research has been focused in implementing solutions through visual modality. We take a different approach, using haptic feedback to transmit an UGV's attitude to an human operator. Our novel attitude haptic feedback device (AHFD) provides information about the UGV's roll and pitch, and their direction of rotation, thorugh the use of upper limb proprioception. We also discuss a preliminary user study to understand the influence two different AHFD configurations (natural and ergonomic) have on attitude perception. Our results indicate there is no difference between the two AHFD configuration in judging attitude states and direction of rotations. Yet, natural configuration is perceived as causing higher physical strain and demand, while the ergonomic a higher overall mental effort. We also found participants had more difficulty in judging pitch attitude at higher angles.
ER  -