Português
Ciência-IUL
Publications
Publication Detailed Description
Journal Title
IEEE Access
Year (definitive publication)
2023
Language
English
Country
United States of America
More Information
Web of Science®
Scopus
Google Scholar
Abstract
Adding human cognitive skills to planetary exploration through remote teleoperation can
lead to more effective and valuable scientific data acquisition. Still, even small amounts of latency can significantly affect real-time operations, often leading to compromised robot safety, goal overshoot, and high levels of human mental fatigue and cognitive workload. Thus, novel operational strategies are necessary to cope with these effects. This paper proposes three augmented teleoperation interfaces that allow the user to operate a robot subject to 3 seconds of latency: (1) Avatar-Aided Interface (AAI), a semi-autonomous approach based on a virtual element; (2) Predictive Interface (PI), an approach with direct control and predictive elements; and (3) Hybrid Interface (HI), where the operator can easily switch between PI and AAI. We conducted a systematic within-subject experiment to evaluate the proposed interfaces in a realistic virtual environment with frequent traction losses. The user study compared AAI and PI to a Control Interface (CI), which did not display any augmented elements. The main results of this comparison showed that: (1) AAI led to a significant reduction in workload and a significant increase in usability and robot safety; (2) the use of the PI caused a significant increase in path length, indicating that operators overshoot their goals more often with this approach; (3) PI and AAI had lower reported effort; and (4) AAI is more flexible and effortless than PI and CI. Finally, the presented results show the need to consider uncertainty (e.g., traction loss) in future interface design.
Acknowledgements
--
Keywords
Time-delayed teleoperation,Augmented interfaces,Predictive displays,Semi-autonomous navigation,Traction losses,Planetary exploration
Fields of Science and Technology Classification
- Computer and Information Sciences - Natural Sciences
- Electrical Engineering, Electronic Engineering, Information Engineering - Engineering and Technology
Funding Records
| Funding Reference | Funding Entity |
|---|---|
| UIDB/50009/2020 | Fundação para a Ciência e a Tecnologia |
| UIDB/04466/2020 | Fundação para a Ciência e a Tecnologia |
| UIDP/04466/2020 | Fundação para a Ciência e a Tecnologia |
Related Projects
This publication is an output of the following project(s):
Contributions to the Sustainable Development Goals of the United Nations
With the objective to increase the research activity directed towards the achievement of the United Nations 2030 Sustainable Development Goals, the possibility of associating scientific publications with the Sustainable Development Goals is now available in Ciência-IUL. These are the Sustainable Development Goals identified by the author(s) for this publication. For more detailed information on the Sustainable Development Goals, click here.
