Jeroen Wildenbeest

Delft University of Technology | TU · Department of Biomechanical Engineering

For the planned teleoperated maintenance of the experimental fusion plant ITER the time performance will be critical. Telemanipulated task execution is however characterised by long execution times compared to similar tasks performed hands-on. There is little quantitative research on task performance of telemanipulated maintenance available to give...

Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or even deteriorated performance. This study investiga...

For many applications such as steer-by-wire or telemanipulation, it remains unclear what tasks benef t most from accurate rendering of feedback forces. The objective of this study is to understand the extent to which haptic feedback of system dynamics helps performance of free-space telemanipulation tasks. In a human factors study, subjects perform...

One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is requir...

A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the en...

Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling...

Haptic transparency is an extensively studied subject in teleoperation. However, the exact role of transparency in human-in-the-loop task execution is only partially understood. In this study, a human factors experiment was performed with the goal to assess the effect of transparency on the rate and generalizability of motor learning. Subjects perf...

In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quality of haptic feedback contributes to human-in-the-loop task performance. This paper presents a human factors experiment in which teleoperated task performance and control effort are assessed for a...

Telemanipulation allows human to perform operations in a remote environment, but performance and required time of tasks is negatively influenced when (haptic) feedback is limited. Improvement of transparency (reflected forces) is an important focus in literature, but despite significant progress, it is still imperfect, with many unresolved issues....