DocumentCode
2540078
Title
Kinesthetic performance analysis of dual-user teleoperation systems
Author
Khademian, Behzad ; Hashtrudi-Zaad, Keyvan
Author_Institution
Queen´´s Univ., Kingston
fYear
2007
fDate
7-10 Oct. 2007
Firstpage
228
Lastpage
233
Abstract
In dual-user teleoperation systems, unlike traditional teleoperation systems, two users are in interaction with each other as well as with environment. In this paper, the issue of transparency in such collaborative systems is discussed. In addition a number of measures are presented to analyze kinesthetic performance in dual-user systems. These indices are evaluated for a collaborative haptic control architecture presented in [1] for various types of environments, user grasps, and levels of dominance of users over tasks.
Keywords
multi-robot systems; position control; telerobotics; collaborative system transparency; dual-user teleoperation systems; kinesthetic performance analysis; position-based multilateral controller; Bandwidth; Collaboration; Dynamic range; Haptic interfaces; Impedance measurement; Master-slave; Performance analysis; Position measurement; Transfer functions; Viscosity;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location
Montreal, Que.
Print_ISBN
978-1-4244-0990-7
Electronic_ISBN
978-1-4244-0991-4
Type
conf
DOI
10.1109/ICSMC.2007.4413644
Filename
4413644
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