Tri-manipulation : an evaluation of human performance in 3-handed teleoperation
With a third hand a human subject could possibly be able to perform tasks that they would otherwise be incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best to use such devices and what limitations they place when controlling a supernumera...
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sg-ntu-dr.10356-1477692023-03-04T17:25:13Z Tri-manipulation : an evaluation of human performance in 3-handed teleoperation Huang, Yanpei Eden, Jonathan Cao, Lin Burdet, Etienne Phee, Soo Jay School of Mechanical and Aerospace Engineering Engineering::Computer science and engineering Human-machine Interaction Robot Kinematics With a third hand a human subject could possibly be able to perform tasks that they would otherwise be incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best to use such devices and what limitations they place when controlling a supernumerary robotic limb (SL) in combination with the natural limbs (NLs) is unknown. Here, we report an investigation of three-handed manipulation carried out using a foot interface. We analysed i) what effect the addition of SL has on the performance of the NLs; and ii) how mechanical and/or cognitive coupling alters user performance. When the subjects moved the three limbs without coupling, only the motion's completion time was observed to be significantly affected. In contrast with coupling, the incorporation of the foot controlled hand was found to affect the success rate, and planning of the motion, however it did not affect motion characteristics such as smoothness. National Research Foundation (NRF) Accepted version This work was funded in part by the Singapore National Research Foundation (NRFI2016-07), by the grants EC H2020 TRIMANUAL, FETOPEN 899626 NIMA and UK EPSRC FAIR-SPACE EP/R026092/1. 2021-04-19T05:57:01Z 2021-04-19T05:57:01Z 2020 Journal Article Huang, Y., Eden, J., Cao, L., Burdet, E. & Phee, S. J. (2020). Tri-manipulation : an evaluation of human performance in 3-handed teleoperation. IEEE Transactions On Medical Robotics and Bionics, 2(4), 545-548. https://dx.doi.org/10.1109/TMRB.2020.3033137 2576-3202 https://hdl.handle.net/10356/147769 10.1109/TMRB.2020.3033137 4 2 545 548 en NRFI2016-07 IEEE Transactions on Medical Robotics and Bionics © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TMRB.2020.3033137 application/pdf |
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Engineering::Computer science and engineering Human-machine Interaction Robot Kinematics Huang, Yanpei Eden, Jonathan Cao, Lin Burdet, Etienne Phee, Soo Jay Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
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With a third hand a human subject could possibly be able to perform tasks that they would otherwise be incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best to use such devices and what limitations they place when controlling a supernumerary robotic limb (SL) in combination with the natural limbs (NLs) is unknown. Here, we report an investigation of three-handed manipulation carried out using a foot interface. We analysed i) what effect the addition of SL has on the performance of the NLs; and ii) how mechanical and/or cognitive coupling alters user performance. When the subjects moved the three limbs without coupling, only the motion's completion time was observed to be significantly affected. In contrast with coupling, the incorporation of the foot controlled hand was found to affect the success rate, and planning of the motion, however it did not affect motion characteristics such as smoothness. |
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School of Mechanical and Aerospace Engineering |
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School of Mechanical and Aerospace Engineering Huang, Yanpei Eden, Jonathan Cao, Lin Burdet, Etienne Phee, Soo Jay |
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Article |
author |
Huang, Yanpei Eden, Jonathan Cao, Lin Burdet, Etienne Phee, Soo Jay |
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Huang, Yanpei |
title |
Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
title_short |
Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
title_full |
Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
title_fullStr |
Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
title_full_unstemmed |
Tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
title_sort |
tri-manipulation : an evaluation of human performance in 3-handed teleoperation |
publishDate |
2021 |
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https://hdl.handle.net/10356/147769 |
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1759853893373657088 |