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1Challenge the future
Delft University of Technology
Exploring the potential of haptic feedback for remote control of ships
dr. Arthur Vrijdag and prof. David Abbink
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What is “Haptic feedback”
… and why should you know about it?
Prof. Dr. ir. David Abbink Professor Cognitive Robotics Department
www.DelftHapticsLab.nl
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Physiology of Haptic Feedback:
Sensors for forces, position and velocity
Benefit #1 Haptics provides awareness
- Awareness of our own body (position, velocity, forces)
- Awareness of the environment (e.g. perturbations)
- … without requiring visual feedback
Sensors in the skin (tactile) Sensors in the muscles and tendons (proprioception)
Benefit #2: Haptics facilitates control
- Reflexes to execute movement corrections
- … without requiring visual feedback
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Controlling our own body without proprioceptionIan Waterman “The man who lost his body” (BBC)
Effective control is not just about commands
but also about sensory feedback!
Training can help cope with impaired sensory feedback
- But requires continuous visual feedback
- and takes more time and effort (frustrating!)
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Haptics for Vehicle control
Historically
Vehicle operator was connected to
the vehicle through ropes and
pulleys
- Bilateral control
- Haptic feedback
Situation Awareness
(vehicle states, perturbations etc)
Control
(fast reflexive response, reduce
visual & mental load)
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Status Quo “Steer-by-wire”
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2002-2006 Nissan Project: Design Force Feedback Gas Pedal &Evaluation using Neuromuscular Analysis
International collaboration with 30 scientists at universities in USA, Canada and Japan
2008 Market launch by Nissan in Japan and USA as
‘Distance Control Assist’
Pedal Depression
Pe
da
l F
orc
e
Continuous Force Feedback
Own car
Abbink (2006) PhD Thesis
Mulder (2007) PhD ThesisHaptic Support for Car Following
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Haptics physically links the operator to vehicle dynamics & the automation
(and therefore to the dynamic task environment)
• Haptics reduces cognitive load
• from processing visual and auditory information
• Haptics allows (slightly) improved performance at reduced control effort
• Haptics improves awareness:
• of vehicle dynamics
• of automation mode and functionality
• Haptics mitigates traditional human-automation issues:
• loss of skills
• reduced awareness
Benefits of Haptics
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By-wire in the Maritime World
- no haptic feedback!
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To make it even more challenging:
Remote Control!
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Summary of challenges
Ship crew suffer from well-known issues with human-automation
interaction:
Reduced situational awareness
Mode awareness (what is the automation doing?)
Complacency and miscalibrated trust (the automation can do everything)
Inappropriate mental load (either too high or too low – boredom)
Remote control adds:
Further reduction in situational awareness
Loss of other forms of feedback (ship motions, shocks and vibrations, sounds, smell);
Connectivity challenges
Latency
Reliability and Redundancy
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Tele-robotics in FukushimaHumans needed for remote
control of ‘smart’ tele-robotics
Subsea Space Domestic CareMaintenance Robotic surgery
No haptics for telerobotic tools and vehicles
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BMechE 22 March 2018
Medical Steerable needles
in humans
Nuclear fusionRemote maintenance
Space teleroboticsDeep sea mining
Lifting aid for care and industry
H-Haptics: The largest Dutch research
Programme on Haptics (2011 – 2017)
Goal: develop human-in-the-loop
telerobotics with haptic shared control
Haptics for telerobotic tools and vehicles
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Haptic Maritime Simulator
Hardware & Software
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1. Simulation Environments:
2. Bachmann Real-Time Industrial
Controller
• Controlling & actuating the handles
• Communication by NMEA
3. In-House designed Handles
• Two Degrees of Freedom
• RPM Lever (X)
• Azimuth Angle (Z)
Haptic Maritime Simulator
Hardware & Software
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Haptic Maritime Simulator
2-DOF Haptic Lever design
designed 2-DOF handles
• RPM Lever
• Azimuth Angle
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Force Vibrations – high-frequency, low-power A buzz on the lever that doesn’t substantially move your limb
(tactile feedback is important!)
Active Forces
Force Guidance/Constraint – low-frequency forceA force on the lever that moves your limb
(mainly proprioceptive feedback is important!)
Rendering Haptic Feedback
- The Basics
Passive Dynamic Properties
Stiffness, damping, inertia, friction etc…forces in response to forces exerted by the human
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Output: conference paper, demo and publicity
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Output: Company interest meetings
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How to support crew?Management of speed, configuration mode & navigation support
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Haptic support for speed and navigation
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Anticipating Waves for Fast Ships
Haptic support for speed and navigation
*The “haptic control for small fast ships” MIIP project is
supported by NML and the Dutch Ministry of Economic Affairs.
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If the crew could use support, then certainly
a remote operator can use support!
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Haptic feedback offers proven benefits• Improved situation awareness
• Improved control
Take Home Message
We have developed haptic levers that allow• Customizable haptic characteristics of the levers (passive)
• Back-driveable haptic feedback to guide, constrain, or interact remotely
Our haptic levers linked to a maritime bridge simulator allow rapid virtual proto-typing of haptic feedback solutions to support human-in-the-loop (remote) control of ships
We see huge potential!
And remember… feeling is believing!
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Dr. ir. A. (Arthur) Vrijdag
Assistant Professor at Delft University of Technology
Faculty of Mechanical, Maritime and Materials Engineering
Department Maritime & Transport Technology
Ship Design, Production & Operations
Mekelweg 2, 2628 CD Delft, The Netherlands
Building 34, room B-4-210
T +31 (0)15 27 84682
Prof. dr. ir. D.A. (David) Abbink
Full Professor at Delft University of Technology
Faculty of Mechanical, Maritime and Materials Engineering
Department of Cognitive Robotics
Mekelweg 2, 2628 CD, Delft, The Netherlands
Building 34, room F-1-140
T +31 (0)15 27 82077
W http://www.delfthapticslab.nl/
Thank you!