Search

This paper introduces preliminary works on building an experimental end-user evaluation for dual-user haptic systems for hands-on training. Such systems bring together the advantages of haptic computer-based training systems and those of supervised training where an expert trainer actively helps in the learning process. The first results mainly permitted to highlight several technical and organizational issues to overcome in a close future. The objective of this project is to test other architectures such as those listed in the state-of-the-art section, to provide comparative conclusions about the pros and cons of each one.

International audience; This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA). The authority is detemined online according to the trainee’s behavior performance. An evaluation method is introduced based on an adaptive virtual boundary, which results into a time-varing dominance factor. An overruling function is set upstream to solve some specific cases. The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.