| A significant amount of research has been conducted regarding the technical aspects of haptic feedback: however, the designing of effective haptic feedback behaviors is not yet well understood from a human-robot interaction perspective. Haptic shared control feedback behaviors for semi-autonomous ground mobile robots sometimes make use of control paradigms that do not appropriately map to the navigation or teleoperation tasks. Also, evaluation of haptic behaviors has not been systematic and often only demonstrates feasibility. As a result, it is difficult to compare between various techniques. We have designed a three-part open-source toolkit to facilitate the investigation of haptic feedback behaviors for navigating semi-autonomous ground robots. Our work consists of 1) a simple hardware modification to turn a popular haptic research device (the Phantom Omni) into a 2D joystick, 2) a ROS software stack for writing arbitrary haptic behaviors for our haptic joystick modification, and 3) a generic experimental design that can be used to evaluate different types of haptic feedback behaviors. Finally, we share our toolkit so that we. as a research community, can better understand users' perceptions and comprehension of haptic behaviors. |
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