On application of virtual fixtures as an aid for telemanipulation and training

This paper presents a study on the application of virtual fixtures as a control aid for performing telemanipulation or in the training environment. The implementation features both manual and supervisory control modes. It also studies approaches for using virtual fixtures in generating visual and force clues and/or for restricting the motion of the slave using the definition of virtual fixtures. In this preliminary study it was found that the virtual fixtures could: improve the speed and precision of the operator, and reduce the operator´s workload and the duration of the training phase for the novice operator