Elicitation of trustworthiness requirements for highly dexterous teleoperation systems with signal latency

Frontiers in Neurorobotics

Neuroscience

John Vrublevskis¹  Joe Louca²  AntoniaTzemanaki²  Kerstin Eder³ 

[1] Advanced Concepts Team, Thales Alenia Space, Bristol, United Kingdom;Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom;Trustworthy Systems Laboratory, University of Bristol, Bristol, United Kingdom;

关键词: telemanipulation;    trustworthiness;    human-robot interaction;    user requirements;    space robotics;    delayed teleoperation;    trust;   

DOI  :  10.3389/fnbot.2023.1187264

 received in 2023-03-15, accepted in 2023-07-28,  发布年份 2023

来源: Frontiers

【 摘 要 】

IntroductionTeleoperated robotic manipulators allow us to bring human dexterity and cognition to hard-to-reach places on Earth and in space. In long-distance teleoperation, however, the limits of the speed of light results in an unavoidable and perceivable signal delay. The resultant disconnect between command, action, and feedback means that systems often behave unexpectedly, reducing operators' trust in their systems. If we are to widely adopt telemanipulation technology in high-latency applications, we must identify and specify what would make these systems trustworthy.MethodsIn this requirements elicitation study, we present the results of 13 interviews with expert operators of remote machinery from four different application areas—nuclear reactor maintenance, robot-assisted surgery, underwater exploration, and ordnance disposal—exploring which features, techniques, or experiences lead them to trust their systems.ResultsWe found that across all applications, except for surgery, the top-priority requirement for developing trust is that operators must have a comprehensive engineering understanding of the systems' capabilities and limitations. The remaining requirements can be summarized into three areas: improving situational awareness, facilitating operator training, and familiarity, and easing the operator's cognitive load.DiscussionWhile the inclusion of technical features to assist the operators was welcomed, these were given lower priority than non-technical, user-centric approaches. The signal delays in the participants' systems ranged from none perceived to 1 min, and included examples of successful dexterous telemanipulation for maintenance tasks with a 2 s delay. As this is comparable to Earth-to-orbit and Earth-to-Moon delays, the requirements discussed could be transferable to telemanipulation tasks in space.

【 授权许可】

Unknown   
Copyright © 2023 Louca, Vrublevskis, Eder and Tzemanaki.