In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.
['Hyoung Il Son', 'Lewis L. Chuang', 'Antonio Franchi', 'Junsuk Kim', 'Dongjun Lee', 'Seong Whan Lee', 'Hh Bülthoff', 'Paolo Robuffo Giordano']
Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots