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Haptic shared control applied for ROV operation support in flowing water

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Abstract

Compact and economical remotely operated vehicles (ROVs) have become widely used worldwide. Nevertheless, it is not easy for inexperienced operators to control an ROV that moves while influenced by some external disturbance such as flowing water or waves. For this study, haptic shared control (HSC) was used to support beginner operators of an ROV in flowing water. We conducted experiments using HSC and manual control for stationary position-keeping and visual identification tasks. Subjective evaluation showed that HSC reduced the operators’ weighted workload compared to manual control and showed that operators devoted attention to a visual task more than to the position-keeping task. Objective data indicate that the root mean square error of the ROV position in the case of HSC was less than that in the case of manual control.

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Acknowledgements

This work was supported by JSPS KAKENHI Grant Number JP21H01294.

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Authors and Affiliations

  1. Tokai University, 3-20-1 Orido, Shimizu, Shizuoka, 424-0902, Japan

    Norimitsu Sakagami, Mizuki Suka & Yu Kimura

  2. Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara, 630-0192, Japan

    Eito Sato & Takahiro Wada

Authors
  1. Norimitsu Sakagami
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  2. Mizuki Suka
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  3. Yu Kimura
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  4. Eito Sato
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  5. Takahiro Wada
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Correspondence to Norimitsu Sakagami.

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Sakagami, N., Suka, M., Kimura, Y. et al. Haptic shared control applied for ROV operation support in flowing water. Artif Life Robotics 27, 867–875 (2022). https://doi.org/10.1007/s10015-022-00788-1

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  • DOI: https://doi.org/10.1007/s10015-022-00788-1

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