A Teleoperated Shared Control Approach with Haptic Feedback for Mobile Assistive Robot

摘要

Mobile assistive robot is widely used to help the people with disabilities in daily life. This paper develops a novel teleoperated shared control approach with haptic feedback for the mobile assistive robot. Omnidirectional mobile assistive robot can move in any direction. Moreover, the motion direction and speed of the robot motion can be controlled by user through a haptic device. In addition, by utilizing the traditional artificial potential field method and using the haptic device end-effector's position as an attraction force, the mobile assistive robot can avoid obstacles faster in comparison with the traditional artificial potential field method. The user can feel the force feedback when the mobile assistive robots close to obstacle. With the help of shared control approach, the mobile assistive robot can achieve a better performance for avoiding obstacle.