Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks
This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rat...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/11/163 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846152497127751680 |
|---|---|
| author | Takumi Nagate Hikaru Nagano Yuichi Tazaki Yasuyoshi Yokokohji |
| author_facet | Takumi Nagate Hikaru Nagano Yuichi Tazaki Yasuyoshi Yokokohji |
| author_sort | Takumi Nagate |
| collection | DOAJ |
| description | This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rate-3D”) and position control (“Position-3D”), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that “Position-3D” outperformed others for sagittal excavation, while both “Rate-lever” and “Rate-3D” were more effective for turning. Notably, “Position-3D” and “Rate-3D” can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks. |
| format | Article |
| id | doaj-art-6f06dff00f564ff6b092717c64c33a3a |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-6f06dff00f564ff6b092717c64c33a3a2024-11-26T18:20:40ZengMDPI AGRobotics2218-65812024-11-01131116310.3390/robotics13110163Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation TasksTakumi Nagate0Hikaru Nagano1Yuichi Tazaki2Yasuyoshi Yokokohji3Department of Mechanical Engineering, Kobe University, Hyogo 657-8501, JapanHaptics Laboratory, Faculty of Fiber Science and Engineering, Kyoto Institute of Technology, Kyoto 606-8585, JapanDepartment of Mechanical Engineering, Kobe University, Hyogo 657-8501, JapanDepartment of Mechanical Engineering, Kobe University, Hyogo 657-8501, JapanThis study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rate-3D”) and position control (“Position-3D”), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that “Position-3D” outperformed others for sagittal excavation, while both “Rate-lever” and “Rate-3D” were more effective for turning. Notably, “Position-3D” and “Rate-3D” can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks.https://www.mdpi.com/2218-6581/13/11/163teleoperationhuman interfacecontrol interfacehuman–machine interactionconstruction machineryhydraulic machinery |
| spellingShingle | Takumi Nagate Hikaru Nagano Yuichi Tazaki Yasuyoshi Yokokohji Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks Robotics teleoperation human interface control interface human–machine interaction construction machinery hydraulic machinery |
| title | Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks |
| title_full | Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks |
| title_fullStr | Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks |
| title_full_unstemmed | Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks |
| title_short | Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks |
| title_sort | subtask based usability evaluation of control interfaces for teleoperated excavation tasks |
| topic | teleoperation human interface control interface human–machine interaction construction machinery hydraulic machinery |
| url | https://www.mdpi.com/2218-6581/13/11/163 |
| work_keys_str_mv | AT takuminagate subtaskbasedusabilityevaluationofcontrolinterfacesforteleoperatedexcavationtasks AT hikarunagano subtaskbasedusabilityevaluationofcontrolinterfacesforteleoperatedexcavationtasks AT yuichitazaki subtaskbasedusabilityevaluationofcontrolinterfacesforteleoperatedexcavationtasks AT yasuyoshiyokokohji subtaskbasedusabilityevaluationofcontrolinterfacesforteleoperatedexcavationtasks |