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Comparison Between Position and Rate Control Using a Foot Interface

[+] Author Affiliations
Zachary J. Dougherty, Ryder C. Winck

Rose-Hulman Institute of Technology, Terre Haute, IN

Paper No. DSCC2018-9115, pp. V003T32A011; 7 pages
doi:10.1115/DSCC2018-9115
From:
  • ASME 2018 Dynamic Systems and Control Conference
  • Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
  • Atlanta, Georgia, USA, September 30–October 3, 2018
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5191-3
  • Copyright © 2018 by ASME

abstract

There has been a recent increase in research related to supernumerary robotic arms. A challenge with supernumerary robotic arms is how to operate them effectively. One solution is to use the foot to teleoperate the arm. That frees the person to use their arms for other tasks. However, unlike hand interfaces, it is not known how to create effective foot control for robotic teleoperation. This paper presents an experiment to compare position and rate control methods for foot interfaces. A foot interface is presented that can be used for both position and rate control. A human subject experiment uses 2D positioning tasks to evaluate the effectiveness of each control method. These same tasks are tested with a hand interface to provide a baseline for comparison. Results show that, similar to the hand, position control performs faster than rate control when using the foot.

Copyright © 2018 by ASME

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