Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback

Affan Pervez; Hiba Latifee; Jee Hwan Ryu; Dongheui Lee

doi:10.1007/978-981-13-3194-7_56

Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback

Affan Pervez, Hiba Latifee, Jee Hwan Ryu, Dongheui Lee

Computation, Information and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task.

Original language	English
Title of host publication	Haptic Interaction - Perception, Devices and Algorithms, 2018
Editors	Ki-Uk Kyung, Masashi Konyo, Sang-Youn Kim, Hiroyuki Kajimoto, Dongjun Lee
Publisher	Springer Verlag
Pages	247-251
Number of pages	5
ISBN (Print)	9789811331930
DOIs	https://doi.org/10.1007/978-981-13-3194-7_56
State	Published - 2019
Event	3rd International AsiaHaptics Conference, 2018 - Incheon, Korea, Republic of Duration: 14 Nov 2018 → 16 Nov 2018

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	535
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	3rd International AsiaHaptics Conference, 2018
Country/Territory	Korea, Republic of
City	Incheon
Period	14/11/18 → 16/11/18

Keywords

Cooperative teleoperation
Dynamic Movement Primitive
Haptic feedback
Human-agent shared teleoperation
Learning from Demonstrations
Teleoperation

Access to Document

10.1007/978-981-13-3194-7_56

Cite this

Pervez, A., Latifee, H., Ryu, J. H., & Lee, D. (2019). Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback. In K.-U. Kyung, M. Konyo, S.-Y. Kim, H. Kajimoto, & D. Lee (Eds.), Haptic Interaction - Perception, Devices and Algorithms, 2018 (pp. 247-251). (Lecture Notes in Electrical Engineering; Vol. 535). Springer Verlag. https://doi.org/10.1007/978-981-13-3194-7_56

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title = "Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback",

abstract = "Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task.",

keywords = "Cooperative teleoperation, Dynamic Movement Primitive, Haptic feedback, Human-agent shared teleoperation, Learning from Demonstrations, Teleoperation",

author = "Affan Pervez and Hiba Latifee and Ryu, \{Jee Hwan\} and Dongheui Lee",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Singapore Pte Ltd.; 3rd International AsiaHaptics Conference, 2018 ; Conference date: 14-11-2018 Through 16-11-2018",

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doi = "10.1007/978-981-13-3194-7\_56",

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isbn = "9789811331930",

series = "Lecture Notes in Electrical Engineering",

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Pervez, A, Latifee, H, Ryu, JH & Lee, D 2019, Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback. in K-U Kyung, M Konyo, S-Y Kim, H Kajimoto & D Lee (eds), Haptic Interaction - Perception, Devices and Algorithms, 2018. Lecture Notes in Electrical Engineering, vol. 535, Springer Verlag, pp. 247-251, 3rd International AsiaHaptics Conference, 2018, Incheon, Korea, Republic of, 14/11/18. https://doi.org/10.1007/978-981-13-3194-7_56

Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback. / Pervez, Affan; Latifee, Hiba; Ryu, Jee Hwan et al.
Haptic Interaction - Perception, Devices and Algorithms, 2018. ed. / Ki-Uk Kyung; Masashi Konyo; Sang-Youn Kim; Hiroyuki Kajimoto; Dongjun Lee. Springer Verlag, 2019. p. 247-251 (Lecture Notes in Electrical Engineering; Vol. 535).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Human-Agent Shared Teleoperation

T2 - 3rd International AsiaHaptics Conference, 2018

AU - Pervez, Affan

AU - Latifee, Hiba

AU - Ryu, Jee Hwan

AU - Lee, Dongheui

PY - 2019

Y1 - 2019

N2 - Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task.

AB - Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task.

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KW - Dynamic Movement Primitive

KW - Haptic feedback

KW - Human-agent shared teleoperation

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PB - Springer Verlag

Y2 - 14 November 2018 through 16 November 2018

ER -

Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback

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