RBE PhD. Speaking Qualifier: Tsung-Chi Lin | Shared Autonomous Interface for Reducing Physical Effort in Assistive Robot Teleoperation via Whole-body Motion Mapping

robotics_banner.jpg

five robots in a line, ordered small to large - the words "Robotics Engineering" are on the top left - the WPI logo is on the bottom left alt
Robotics Engineering - WPI
Thursday, December 05, 2019
10:00 am to 11:00 am
Floor/Room #: 
Suite 201, RBE 209 (Conference Room)

RBE PH.D SPEAKING QUALIFIER

Tsung-Chi Lin

Shared Autonomous Interface for Reducing Physical Effort in Assistive Robot Teleoperation via Whole-body Motion Mapping

 
THURSDAY, DECEMBER 5, 2019
10:00 AM - 11:00 AM
SUITE 201, 85 PRESCOTT ST. | RBE CONFERENCE ROOM 209

 

Abstract: Motion mapping is an intuitive method of teleoperation with a low learning curve. However, physical fatigue is not trivial and can affect the operator’s performance. The first section of this study investigates the physical fatigue caused by teleoperating a robot to perform general-purpose assistive tasks. The results indicate that physical fatigue happens more in the actions that involve precise manipulation and steady posture maintenance. In the second section of this study, we further investigate how teleoperation assistance in terms of shared autonomy can be used to reduce the physical workload in robot teleoperation via motion mapping. Specifically, we conduct a user study to compare the muscle efforts in the teleoperation of a mobile humanoid robot to (1) reach to grasp an individual object and (2) collect objects in a cluttered workspace, with and without an autonomous grasping function that can be triggered manually by the teleoperator. We also compared the participants’ task performance, subjective user experience, and attitude towards the usage of teleoperation assistance in the future. Our results show that: (1) Teleoperation assistance (as simple as an autonomous grasping function) can effectively reduce the physical effort, task completion time and number of errors; (2) the experience of performing task with and without teleoperation assistance shape the attitude of teleoperators to prefer using autonomous functions in future operation.

Ph.D. Advisor:                       Professor Zhi Li, WPI

Qualifier Committee:            Professor Loris Fichera, WPI

                                               Professor Haichong Zhang, WPI

DEPARTMENT(S): 
Name: 
Kristen Bronger
Phone Number: