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Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and
Leone Costi1, Luca Scimeca2, Perla Maiolino3
1Bio Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United Kingdom.
Frontiers in Robotics and AI
|November 5, 2021
Summary
Shared control effectively mitigates communication delay in telerobotics. This predictive human-robot control (PHRC) modality balances accuracy, task time, and user control for optimal performance.
Area of Science:
- Robotics
- Human-Computer Interaction
- Control Systems
Background:
- Communication delay is a fundamental challenge in telerobotics, impacting robot stability and user task awareness.
- Existing solutions often involve statistical models or neural networks (NN) for sensor prediction to maintain user control.
- Shared control offers a promising approach to enhance precision and speed in teleoperated tasks, particularly in medical and surgical applications.
Purpose of the Study:
- To investigate the efficacy of shared control in compensating for communication delay in telerobotic systems.
- To analyze the impact of varying degrees of autonomy on task performance under delayed communication.
- To propose and evaluate a novel unilateral teleoperated leader-follower architecture integrating predictive systems and shared control.
Main Methods:
- A 1-dimensional reaching and recognition task with haptic sensing was designed.
- Four control modalities were implemented: non-predictive human control (HC), predictive human control (PHC), predictive human-robot control (PHRC), and predictive robot control (PRC).
- The effects of added communication delay on user performance, environmental interaction forces, and trajectories were analyzed across modalities.
Main Results:
- Non-predictive human control (HC) was highly sensitive to delay, leading to instability and oscillations.
- Increased autonomy, particularly with shared control, effectively reduced task completion time.
- The predictive human-robot control (PHRC) modality demonstrated optimal performance, achieving a balance between accuracy, task time, speed, and interaction forces.
Conclusions:
- Shared control is a viable strategy for mitigating the adverse effects of communication delay in telerobotics.
- The proposed PHRC modality offers a robust solution, enhancing performance in terms of accuracy and efficiency.
- The study highlights the importance of intelligent control strategies in overcoming limitations in teleoperated systems.
