Robustness of Haptic Shared Control Against Model Inaccuracies During Telemanipulation

During my master’s study I found many interesting challenges that ranged from optimizing machine to identifying human performance. Haptic shared control in teleoperation combines these aspects. It joins advantages and strengths of manual control and automation. Yet, this relatively young and multidisciplinary field yields many challenges, focused around the understanding of human, machine, and, moreover, their synergy. This master’s thesis aims to answer the question: “How guiding errors affect task performance and control effort during teleoperation with haptic shared control.” There were various challenges involved to answer the main question. One part was to find and prepare a suitable test-setup. Also the extension of haptic shared control to the third dimension was not trivial. Then there was a human factor experiment involved, which included the testing of subjects. Finally the measured data had to be processed, analysed and reported in this thesis. The focus of this study is a human factors experiment, which is described in detail in a research paper. The appendices provide background information and give a broad overview of the accomplished work. These appendices allow future students and researchers to gain detailed insigh