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Luz, R., Corujeira, J., Silva, J. L. & Ventura, R. (2018). Traction awareness through haptic feedback for the teleoperation of UGVs*. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). (pp. 313-319). Nanjing: IEEE.

R. Luz et al.,  "Traction awareness through haptic feedback for the teleoperation of UGVs*", in 2018 27th IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), Nanjing, IEEE, 2018, pp. 313-319

@inproceedings{luz2018_1714843917821,
	author = "Luz, R. and Corujeira, J. and Silva, J. L. and Ventura, R.",
	title = "Traction awareness through haptic feedback for the teleoperation of UGVs*",
	booktitle = "2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)",
	year = "2018",
	editor = "",
	volume = "",
	number = "",
	series = "",
	doi = "10.1109/ROMAN.2018.8525740",
	pages = "313-319",
	publisher = "IEEE",
	address = "Nanjing",
	organization = "",
	url = "https://ieeexplore.ieee.org/document/8525740"
}

TY  - CPAPER
TI  - Traction awareness through haptic feedback for the teleoperation of UGVs*
T2  - 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)
AU  - Luz, R.
AU  - Corujeira, J.
AU  - Silva, J. L.
AU  - Ventura, R.
PY  - 2018
SP  - 313-319
SN  - 1944-9445
DO  - 10.1109/ROMAN.2018.8525740
CY  - Nanjing
UR  - https://ieeexplore.ieee.org/document/8525740
AB  - Teleoperation of Unmanned Ground Vehicles (UGVs) is dependent on several factors as the human operator is physically detached from the UGV. This paper focuses on situations where a UGV designed for search and rescue loses traction, thus becoming unable to comply with the operator's commands. In such situations, the lack of Situation Awareness (SA) may lead to an incorrect and inefficient response to the current UGV state usually confusing and frustrating the human operator. The exclusive use of visual information to simultaneously perform the main task (e.g. search and rescue) and to be aware of possible impediments to UGV operation, such as loss of traction, becomes a very challenging task for a single human operator. We address the challenge of unburdening the visual channel by using other human senses to provide multimodal feedback in UGV teleoperation. To achieve this goal we present a teleoperation architecture comprising (1) a laser-based traction detector module, to discriminate between traction losses (stuck and sliding) and (2) a haptic interface to convey the detected traction state to the human operator through different types of tactile stimuli provided by three haptic devices (E-Vita, Traction Cylinder and Vibrotactile Glove). We also report the experimental results of a user study to evaluate to what extent this new feedback modality improves the user SA regarding the UGV traction state. Statistically significant results were found supporting the hypothesis that two of the haptic devices improved the comprehension of the traction state of the UGV when comparing to exclusively visual modality.
ER  -