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Transferrable Operative Difficulty Assessment in Robot-assisted Teleoperation: A Domain Adaptation Approach.

Published on Jun 12, 2019in arXiv: Robotics
Ziheng Wang1
Estimated H-index: 1
(UTD: University of Texas at Dallas),
Cong Feng + 1 AuthorsAnn Majewicz Fey
Abstract
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven approach to numerically characterize the operative difficulty demand of complex teleoperation. In effort to provide an entirely task-independent assessment, we consider using only data collected from the human user including: (1) physiological response, and (2) movement kinematics. By leveraging an unsupervised domain adaptation technique, our approach learns the user information that defines task difficulty in a well-known source, namely, a Fitt's target reaching task, and generalizes that knowledge to a more complex human motor control scenario, namely, the teleoperation of a robotic system. Our approach consists of two main parts: (1) The first part accounts for the inherent variances of user physiological and kinematic response between these cross-domain motor control scenarios that are vastly different. (2) A stacked two-layer learner is designed to improve the overall modeling performance, yielding a 96.6% accuracy in predicting the known difficulty of a Fitts' reaching task when using movement kinematic features. We then validate the effectiveness of our model by investigating teleoperated robotic needle steering as a case study. Compared with a standard NASA TLX user survey, our results indicate significant differences in the difficulty demand for various choices of needle steering control algorithms, p<0.05, as well as the difficulty of steering the needle to different targets, p<0.05. The results highlight the potential of our approach to be used as a design tool to create more intuitive and natural teleoperation interfaces in robot-assisted systems.
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Published on Dec 1, 2018
Ziheng Wang1
Estimated H-index: 1
(UTD: University of Texas at Dallas),
Ann Majewicz Fey1
Estimated H-index: 1
(UTD: University of Texas at Dallas)
Purpose With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work requires translating robot motion kinematics into intermediate features or gesture segments that are expensive to extract, lack efficiency, and require significant domain-specific knowledge.
Published on Jul 1, 2018in IEEE Transactions on Haptics2.76
Mahya Shahbazi8
Estimated H-index: 8
(UWO: University of Western Ontario),
Seyed Farokh Atashzar7
Estimated H-index: 7
(UWO: University of Western Ontario),
Rajni V. Patel27
Estimated H-index: 27
(UWO: University of Western Ontario)
While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in order to remotely perform a task. This paper presents an overview of multilateral teleoperation systems and classifies the existing state-of-the-a...
Published on May 1, 2018 in ICRA (International Conference on Robotics and Automation)
Ziheng Wang1
Estimated H-index: 1
(UTD: University of Texas at Dallas),
Isabella Reed1
Estimated H-index: 1
(UTD: University of Texas at Dallas),
Ann Majewicz Fey1
Estimated H-index: 1
(UTD: University of Texas at Dallas)
The effectiveness of control algorithms for teleoperated systems is typically evaluated through experimental performance measures, post-experimental user surveys, and theoretical analysis. However, none of these methods provide an objective assessment of teleoperation algorithms with respect to the real-time changes of human users during teleoperated tasks in terms of physiological, kinematic, or cognitive metrics. In this study, we recruited subjects to control robotically steered needles in a ...
Published on Sep 1, 2017in Urology1.86
Lora A. Cavuoto11
Estimated H-index: 11
(UB: University at Buffalo),
Ahmed A. Hussein11
Estimated H-index: 11
(Cairo University)
+ 8 AuthorsBasim Ahmad2
Estimated H-index: 2
(Roswell Park Cancer Institute)
Objective To investigate the cognitive and physical workload experienced by each operating room team member for different types of urologic procedures. Methods Surgeons, anesthesiologists, surgical fellows, bedside assistants, circulating nurses, and scrub nurses completed the National Aeronautics and Space Administration Task Load Index questionnaire for various urologic robot-assisted surgery procedures. A total of 338 questionnaires from 55 unique individuals were collected. Workload differen...
Published on Sep 1, 2017in International Journal of Social Robotics2.30
Euijung Yang3
Estimated H-index: 3
(Iowa State University),
Michael C. Dorneich13
Estimated H-index: 13
(Iowa State University)
The effects of intermittent and variable time delay were investigated to understand the cognitive and physical consequences of gaps between an input from an operator and the corresponding feedback response from the system. Time delay has been shown to disrupt task performance in various areas including psychology and telerobotics. Previous research in multiple domains has focused on the performance effects of time delay and overcoming technological limitations that cause time delay. However, rob...
Published on Jul 9, 2017
Dan Pan1
Estimated H-index: 1
(THU: Tsinghua University),
Yijing Zhang (THU: Tsinghua University), Zhizhong Li17
Estimated H-index: 17
(THU: Tsinghua University)
This study aims to explore how task complexity and spatial ability on teleoperation performance, especially the interaction effects of task complexity and spatial ability. Three kinds of robotic arm teleoperation task were designed, namely point aiming, line alignment, and cross alignment. They were respectively treated as teleoperation task with low, middle and high complexity. Teleoperation performance were measured from task completion time, rate of extra distance moved, operation slip and co...
Published on May 1, 2017in Robotics and Autonomous Systems2.93
Han U. Yoon2
Estimated H-index: 2
(A&M: Texas A&M University),
Ranxiao F. Wang1
Estimated H-index: 1
(UIUC: University of Illinois at Urbana–Champaign)
+ 1 AuthorsPilwon Hur9
Estimated H-index: 9
(A&M: Texas A&M University)
This paper presents an approach to developing an assistive interface for humanrobot interaction that provides users with customized haptic and visual feedback. The developed interface targets to improve users task performance by customizing assistance policy and level based on users performance and control strategy. To achieve this, the users control strategy was modeled based on inverse optimal control technique. Then, features describing the geometric and behavioral characteristics of user con...
Published on Mar 1, 2017in Human Factors2.65
Kimberly Stowers5
Estimated H-index: 5
,
James M. Oglesby4
Estimated H-index: 4
+ 3 AuthorsEduardo Salas104
Estimated H-index: 104
Objective:We have developed a framework for guiding measurement in human–machine systems.Background:The assessment of safety and performance in human–machine systems often relies on direct measurement, such as tracking reaction time and accidents. However, safety and performance emerge from the combination of several variables. The assessment of precursors to safety and performance are thus an important part of predicting and improving outcomes in human–machine systems.Method:As part of an in-de...
Published on Oct 13, 2016
Martin Wattenberg8
Estimated H-index: 8
(Google),
Fernanda Viégas7
Estimated H-index: 7
(Google),
Ian Johnson3
Estimated H-index: 3
(Google)
Cited By0
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