text: We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
  @cite_38: Abstract The results of a multi-year research program to identify the factors associated with variations in subjective workload within and between different types of tasks are reviewed. Subjective evaluations of 10 workload-related factors were obtained from 16 different experiments. The experimental tasks included simple cognitive and manual control tasks, complex laboratory and supervisory control tasks, and aircraft simulation. Task-, behavior-, and subject-related correlates of subjective workload experiences varied as a function of difficulty manipulations within experiments, different sources of workload between experiments, and individual differences in workload definition. A multi-dimensional rating scale is proposed in which information about the magnitude and sources of six workload-related factors are combined to derive a sensitive and reliable estimate of workload.
  @cite_91: The control polygon of a Bezier curve is well-defined and has geometric significance---there is a sequence of weights under which the limiting position of the curve is the control polygon. For a Bezier surface patch, there are many possible polyhedral control structures, and none are canonical. We propose a not necessarily polyhedral control structure for surface patches, regular control surfaces, which are certain C^0 spline surfaces. While not unique, regular control surfaces are exactly the possible limiting positions of a Bezier patch when the weights are allowed to vary.
  @cite_33: In this paper, we address the problem of automatic grasp generation for robotic hands where experience and shape primitives are used in synergy so to provide a basis not only for grasp generation but also for a grasp evaluation process when the exact pose of the object is not available. One of the main challenges in automatic grasping is the choice of the object approach vector, which is dependent both on the object shape and pose as well as the grasp type. Using the proposed method, the approach vector is chosen not only based on the sensory input but also on experience that some approach vectors will provide useful tactile information that finally results in stable grasps. A methodology for developing and evaluating grasp controllers is presented where the focus lies on obtaining stable grasps under imperfect vision. The method is used in a teleoperation or a programming by demonstration setting where a human demonstrates to a robot how to grasp an object. The system first recognizes the object and grasp type which can then be used by the robot to perform the same action using a mapped version of the human grasping posture.
  @cite_132: This paper introduces a novel Balance Feedback Interface (BFI) that addresses the problem of bilateral feedback for teleoperation of humanoid robots. With this new device we expect to enhance robot's high force manipulation performance to a level comparable to humans by dynamically synchronizing master and slave. Through this Human-Machine Interface (HMI) we aim to achieve two goals: (i) have the human pilot learn from the robot's dynamic behavior; and (ii) have the humanoid robotic platform learn from human's motor skills. The eventual goal is to fuse the teleoperator's commands and an autonomous controller for optimal performance. Initial results evaluate the stability of the robot while being teleoperated by a human pilot for a simple upright balancing task. During the experiment the user has no visual information about the robot's state and is expected to compensate for unpredicted instabilities. The bilateral feedback system shows robustness to inertial variations and to external disturbances with the proposed human-in-the-loop control strategy offering valuable insight for future work.
  @cite_36: We demonstrate a low-cost telerobotic system that leverages commercial virtual reality (VR) technology and integrates it with existing robotics control infrastructure. The system runs on a commercial gaming engine using off-the-shelf VR hardware and can be deployed on multiple network architectures. The system is based on the homunculus model of mind wherein we embed the user in a VR control room. The control room allows for multiple sensor displays, and dynamic mapping between the user and robot. This dynamic mapping allows for selective engagement between the user and the robot. We compared our system with state-of-the-art automation algorithms and standard VR-based telepresence systems by performing a user study. The study showed that new users were faster and more accurate than the automation or a direct telepresence system. We also demonstrate that our system can be used for pick and place, assembly, and manufacturing tasks.
  @cite_9: We propose a novel human-robot-interaction framework for robust visual scene understanding. Without any a-priori knowledge about the objects, the task of the robot is to correctly enumerate how many of them are in the scene and segment them from the background. Our approach builds on top of state-of-the-art computer vision methods, generating object hypotheses through segmentation. This process is combined with a natural dialog system, thus including a 'human in the loop' where, by exploiting the natural conversation of an advanced dialog system, the robot gains knowledge about ambiguous situations. We present an entropy-based system allowing the robot to detect the poorest object hypotheses and query the user for arbitration. Based on the information obtained from the human-robot dialog, the scene segmentation can be re-seeded and thereby improved. We present experimental results on real data that show an improved segmentation performance compared to segmentation without interaction.
  @cite_21: In this paper, new force feedback rendering scheme for mobile robot teleoperation is presented. Previous research indicated the problem of the low quality of mobile robot's motion control during the teleoperation with feedback force based on obstacle range information. Human-operator's commands were distorted by the feedback force, as a result, mobile robot could not follow human-operator's intention. To solve this problem, a new force rendering approach with variable feedback gain is proposed. Force feedback gain is variable based on measured distances to the obstacle and derivatives of the distances. Simulation and experimental study showed that the variable haptic feedback improves the quality of mobile robot teleoperation. variable feedback force improved the quality of mobile robot teleoperation by making robot's trajectory smooth and accurate.
  @cite_44: Using the pre-recorded human motion and trajectory tracking, we can control the motion of a humanoid robot for free-space, upper body gestures. However, the number of degrees of freedom, range of joint motion, and achievable joint velocities of today's humanoid robots are far more limited than those of the average human subject. In this paper, we explore a set of techniques for limiting human motion of upper body gestures to that achievable by a Sarcos humanoid robot located at ATR. We assess the quality of the results by comparing the motion of the human actor to that of the robot, both visually and quantitatively.
  @cite_116: 
  @cite_126: 
  @cite_2: 
summary: Remote control may be accomplished through the use of a wide variety of interfaces @cite_91 . These have changed considerably with the advent of Human-Centered Design (HCD) and have evolved from joystick-and-button black boxes to force-feedback devices @cite_21 , smart gloves @cite_33 , body-suits @cite_132 , verbal instructions @cite_9 , and vision-based analysis of natural body motions @cite_36 @cite_44 @cite_126 @cite_2 . While attractive, an immediate complication in using these methods is obtaining and learning to use the required equipment. In addition, mixed results from immersive teleoperation have been reported, resulting in efforts to reduce the cognitive load of the operators @cite_38 . In @cite_116 a clear trade-off was detected: greater control and situational awareness came at the cost of possible cognitive overload and impaired performance.