Volunteers oriented interface design for the remote navigation of rescue robots at large-scale disaster sites (To develop an efficient remote navigation interface combined by a force feedback steering wheel and a mouse for a tank rescue robot)

Zhixiao Yang, Kazuyuki Ito, Kazuhiko Saijo, Kazuyuki Hirotsune, Akio Gofuku, Fumitoshi Matsuno

Research output: Contribution to journalArticle

Abstract

This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors' wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera's view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.

Original languageEnglish
Pages (from-to)620-631
Number of pages12
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume48
Issue number4
DOIs
Publication statusPublished - Jun 15 2006

Fingerprint

Disasters
Wheels
Navigation
Robots
Feedback
Railroad cars
Cameras
Switches
Neural networks
Experiments

Keywords

  • Force feedback steering wheel
  • Human Interface
  • Mouse
  • Neural network
  • Remote navigation
  • Rescue robot
  • Tank rescue robot

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

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abstract = "This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors' wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera's view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.",
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AU - Gofuku, Akio

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