Flexible virtual fixture interface for path specification in tele-manipulation
| Autor: | Masood Dehghan, Camilo Perez Quintero, Marcelo H. Ang, Martin Jagersand, Oscar Ramirez |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Engineering business.industry Interface (computing) 0206 medical engineering 02 engineering and technology 020601 biomedical engineering Visualization 020901 industrial engineering & automation Virtual fixture Teleoperation Path (graph theory) Trajectory business Cognitive load Simulation |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2017.7989631 |
| Popis: | We present the design and implementation of a flexible force-vision-based interface; allowing local operators to visually specify a path constraint to a remote robot manipulator in an on-line fashion during the teleoperation. Using bilateral and unilateral configurations, we compare our system to direct teleoperation through user studies. Three performance metrics (smoothness, error and execution time) and a subjective evaluation (NASA TLX) were used to quantify user performance. The trials show that our system outperforms direct teleoperation and reduces cognitive load. Our findings show that the performance of a unilateral teleop configuration with visual-force constraints surpass a bilateral teleop configuration in terms of displacement error and variance, as well as allowing users to complete tasks faster and with a smoother trajectory. |
| Databáze: | OpenAIRE |
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