Authors:
Sehat Ullah
1
;
Samir Otmane
1
;
Malik Mallem
1
and
Paul Richard
2
Affiliations:
1
University of Evry, France
;
2
University of Angers, France
Keyword(s):
CVEs, Cooperative teleoperation, Parallel robots, SPIDAR, Human performance, Multimodal feedback.
Related
Ontology
Subjects/Areas/Topics:
Human Augmentation and Shared Control
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Telerobotics and Teleoperation
;
Virtual Environment, Virtual and Augmented Reality
Abstract:
Cooperative virtual environments, where users simultaneously manipulate objects, is one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task, Two users setting on separate machines connected through local network operate each robot. In addition, the article presents the use of sensory feedback (i.e shadow, arrows and oral communication) and investigates their effects on cooperation, presence and user’s performance. Ten volunteers subject had to cooperatively perform a peg-in-hole task. Results revealed that shadow has a significant effect on task execution while arrows and oral communication not only increase users’ performance but also enhance the sense of presence and awareness. Our investigations will help in the development of teleoperation systems for cooperative assembly, surgical training and rehabilitation systems.