PROJECT TITLE :

The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms

ABSTRACT :

Shared-control haptic steerage may be a common kind of robot-mediated training used to show novice subjects to perform dynamic tasks. Shared-control guidance is distinct from additional ancient steering controllers, such as virtual fixtures, in that it provides novices with real-time visual and haptic feedback from a real or virtual knowledgeable. Previous studies have shown varying levels of coaching efficacy using shared-management steerage paradigms; it's hypothesized that these mixed results are because of interactions between specific steerage implementations (“paradigms”) and tasks. This work proposes a novel guidance paradigm taxonomy supposed to assist classify and compare the multitude of implementations in the literature, along with a revised proxy rendering model to allow for the implementation of additional complex steerage paradigms. The efficacies of 4 common paradigms are compared in an exceedingly controlled study with 50 healthy subjects and two dynamic tasks. The results show that guidance paradigms must be matched to a task's dynamic characteristics to elicit effective coaching and low workload. Based mostly on these results, we give suggestions for the future development of improved haptic steerage paradigms.