In this paper, we present a haptic guidance policy to steer the user along predefined paths and we evaluate a predictive approach to compensate actuation delays that humans have when they are guided along a given trajectory via sensory stimuli.
The proposed navigation policy exploits the nonholonomic nature of human locomotion in goal directed paths, which leads to a very simple guidance mechanism. The proposed method has been evaluated in a real scenario where seven human subjects were asked to walk along a set of predefined paths via vibrotactile cues. Their poses as well as the related distances from the path have been recorded using an accurate optical tracking system.
Results revealed that an average error of 0.24 m is achieved by using the proposed haptic policy, and that the predictive approach does not bring significant improvements to the path following problem for what concerns the distance error. On the contrary, the predictive approach achieved a definitely lower activation time of the haptic interfaces.
M. Aggravi, S. Scheggi, D. Prattichizzo. Evaluation of a predictive approach in steering the human locomotion via haptic feedback. In Proc. IEEE/RSJ International Conference Intelligent Robots and Systems. In Press, 2015.