Full citation
Pedrosa, R., MacLean, K. E. (2008). "Using Haptic Feedback to Share Control with a Smart System", in Proceedings of Poster in Graphics Interface (GI 2008), Windsor, Ontario, Canada, May 2008.
Abstract
Industrial environments are often saturated with visual and audio stimuli; however, intelligent systems typically
assist a user/operator to reach a control goal using visual or audio cues. We posit that haptic interfaces could be
used to provide such assistance with less interference, but only if the guidance is provided in an intuitive and
non-disruptive way. Using haptic feedback for guidance is not a new concept [3]. For example, force feedback
has been most used for providing continuous trajectory guidance directly to the motor control channel [1][2][4].
Our example derives from the metaphor of a haptically rendered elastic string anchored at both ends, which
represents the intelligent system’s proposed control path. The elasticity constant of the string defines the safe
region around this path, which the user moves along as if pulling a bead along a slightly stretchy string. The
possible divergence from the “system” path becomes increasingly limited as one moves from the center of the
string towards one of the anchoring points. A more complex system-suggested control trajectory could be
divided into a reasonable number (n) of serially connected string segments, with joints anchored, each with its
own defined elastic behavior.
assist a user/operator to reach a control goal using visual or audio cues. We posit that haptic interfaces could be
used to provide such assistance with less interference, but only if the guidance is provided in an intuitive and
non-disruptive way. Using haptic feedback for guidance is not a new concept [3]. For example, force feedback
has been most used for providing continuous trajectory guidance directly to the motor control channel [1][2][4].
Our example derives from the metaphor of a haptically rendered elastic string anchored at both ends, which
represents the intelligent system’s proposed control path. The elasticity constant of the string defines the safe
region around this path, which the user moves along as if pulling a bead along a slightly stretchy string. The
possible divergence from the “system” path becomes increasingly limited as one moves from the center of the
string towards one of the anchoring points. A more complex system-suggested control trajectory could be
divided into a reasonable number (n) of serially connected string segments, with joints anchored, each with its
own defined elastic behavior.
Paper
SPIN Authors
Year Published
2008