Communicating Robot Goals via Haptic Feedback in Manipulation Tasks

摘要

In shared autonomy, human teleoperation blends with intelligent robot autonomy to create robot control. This combination enables assistive robot manipulators to help human operators by predicting and reaching the human's desired target. However, this reduces the control authority of the user and the transparency of the interaction. This negatively affects their willingness to use the system. We propose haptic feedback as a seamless and natural way for the robot to communicate information to the user and assist them in completing the task. A proof-of-concept demonstration of our system illustrates the effectiveness of haptic feedback in communicating the robot's goals to the user. We hypothesize that this can be an effective way to improve performance in teleoperated manipulation tasks, while retaining the control authority of the user.