Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/137857
Title: Performance evaluation of a foot interface to operate a robot arm
Authors: Huang, Yanpei
Burdet, Etienne
Cao, Lin
Phan, Phuoc Thien
Tiong, Anthony Meng Huat
Zheng, Pai
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2019
Source: Huang, Y., Burdet, E., Cao, L., Phan, P. T., Tiong, A. M. H., Zheng, P., & Phee, S. J. (2019). Performance evaluation of a foot interface to operate a robot arm. IEEE Robotics and Automation Letters, 4(4), 3302-3309. doi:10.1109/LRA.2019.2926215
Journal: IEEE Robotics and Automation Letters
Abstract: We developed a foot interface enabling an operator to control a robotic arm with four degrees of freedom in continuous direction and speed, for operating one of the multiple tools required during robot-aided surgery. In this letter, we first test whether this pedal interface can be used to carry out complex manipulation as is required in surgery. Second, we compare the performance of ten naive operators using this new interface and a traditional button interface providing axis-by-axis constant-speed control. Testing is carried out on geometrically complex path-following tasks similar to laparoscopic training. Movement precision, time and smoothness are analyzed. The results demonstrate that the continuous pedal interface can be used to control a robot in complex motion tasks. The subjects kept the average error rate at a low level of around 2.6% with both interfaces, but the pedal interface resulted in about 30% faster operation and 60% smoother movement, which indicates improved efficiency and user experience as compared with the button interface. A questionnaire shows that controlling the robot with the pedal interface was more intuitive, comfortable, and less tiring than with the button interface.
URI: https://hdl.handle.net/10356/137857
ISSN: 2377-3766
DOI: 10.1109/LRA.2019.2926215
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/LRA.2019.2926215
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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