Comparison of Position Control With and Without Friction on a Foot Interface

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9019

B. Rudolph, Ryder C. Winck

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Abstract

A foot interface may one day control a third arm to assist the hands with a difficult task, but the interface needs to be easy to use. Developing a good foot interface is challenging because of the need to provide support for the leg, allow the user to disengage with the interface without causing unwanted motion, and make it easy for the user to hold a set position. The addition of friction in the interface can enable the device to meet these goals without negatively affecting performance. Although teleoperation is a well explored area of research, relatively little research has been done that examines the effects of friction on the control interface. This paper presents an experiment in which two foot control interfaces are compared. One device uses friction and the other has no added friction, so there is little resistance to motion in any direction. The experiment uses a reaching task and a path-following task to compare the interfaces. The only statistically significant performance differences were that the friction interface reduced the time needed to stop at a target and reduced excess movement when stopping at a target. Also, subjects indicated a preference for the friction interface. The results show that friction can be added to a foot interface to support the device and user and provide some positive gains in performance.

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足部接触面有摩擦和无摩擦位置控制的比较

有一天，足部接口可能会控制第三只手臂来帮助双手完成困难的任务，但接口需要易于使用。开发一个好的足部界面是具有挑战性的，因为需要为腿部提供支撑，允许用户在不引起不必要的运动的情况下脱离界面，并使用户易于保持固定位置。在界面中增加摩擦可以使设备满足这些目标，而不会对性能产生负面影响。虽然远程操作是一个很好的探索研究领域，相对较少的研究已经做了检查摩擦对控制界面的影响。本文介绍了一个两足控制接口的对比实验。一种装置使用摩擦，另一种装置没有额外的摩擦，所以在任何方向上运动的阻力都很小。实验采用到达任务和路径跟踪任务来比较接口。唯一有统计学意义的性能差异是摩擦界面减少了停在目标处所需的时间，并减少了停在目标处时的过度运动。此外，受试者对摩擦界面表现出偏好。结果表明，摩擦可以添加到脚接口来支持设备和用户，并提供一些积极的性能增益。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.