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A person-following robot can assist people in many applications including load carrying, elder care, and emotional support. However, commercially available personal robot systems usually have limited sensing and actuation capabilities. They are not expected to function perfectly in complex environments, and human intervention is required when the robot fails. We propose to use a holdable mechatronic device to reduce the user\u2019s effort in communication and enable natural interaction during the intervention. Our design of the holdable device consists of two parts: a haptic interface that displays touch cues to convey the robot\u2019s failure status via asymmetric vibrations, and a command interface for teleoperating the robot follower with hand gestures. We experimentally evaluated the device and the communication strategy in two sets of user studies with a controlled environment and a physical robot follower. Results show that with the proposed method, users are able to perform their tasks better, respond to robot failure events faster, and adjust walking speed according to the robot\u2019s limitations. We also demonstrate that users can successfully teleoperate the robot to avoid obstacles when navigating in challenging environments.<\/jats:p>","DOI":"10.1145\/3243503","type":"journal-article","created":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T12:15:57Z","timestamp":1557231357000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":17,"title":["Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation"],"prefix":"10.1145","volume":"7","author":[{"given":"Yuhang","family":"Che","sequence":"first","affiliation":[{"name":"Stanford University, CA"}]},{"given":"Heather","family":"Culbertson","sequence":"additional","affiliation":[{"name":"University of Southern California, CA"}]},{"given":"Chih-Wei","family":"Tang","sequence":"additional","affiliation":[{"name":"Ford Motor Company, Palo Alto, CA"}]},{"given":"Sudipto","family":"Aich","sequence":"additional","affiliation":[{"name":"Ford Motor Company, Palo Alto, CA"}]},{"given":"Allison M.","family":"Okamura","sequence":"additional","affiliation":[{"name":"Stanford University, CA"}]}],"member":"320","published-online":{"date-parts":[[2018,11,16]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/1152399.1152436"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2005.146"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-44196-1_12"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRoM.2015.7367878"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2016.7745187"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.09.019"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2014.2316797"},{"key":"e_1_2_1_8_1","volume-title":"IEEE Haptics Symposium. 27--33","author":"Culbertson Heather"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3025741"},{"key":"e_1_2_1_10_1","doi-asserted-by":"crossref","unstructured":"Meredyth Daneman and Philip M. 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