A haptic teleoperation study using wave variables and scaling matrices

Author

Alise, M. ; Roberts, R.G. ; Repperger, D.W. ; Moore, C.A.

Author_Institution

Coll. of Eng., Florida A&M Univ., Tallahassee, FL, USA

fYear

2009

fDate

11-14 Oct. 2009

Firstpage

1

Lastpage

5

Abstract

A haptics investigation is conducted when human subjects have to deal with a bilateral teleoperation system with two levels of time delay (400 and 1,000 ms) and four types of scaling matrices that provide a passivity form of stabilization. The wave variable method was implemented to produce a controllable human-machine response. What is of interest is the resulting performance that occurs from such systems which remain passive but impacts the overall human tracking performance that can be achieved. The question addressed is how these imposed stability restrictions (via architecture constraints) may degrade human tracking performance?

Keywords

man-machine systems; stability; telerobotics; architecture constraints; bilateral teleoperation system; controllable human-machine response; haptic teleoperation; scaling matrices; stability restrictions; wave variable method; Cybernetics; Degradation; Delay effects; Educational institutions; Equations; Force feedback; Haptic interfaces; Humans; Stability; USA Councils; haptics; human performance; scaling matrices; teleoperation; time delay; wave variables;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1062-922X

Print_ISBN

978-1-4244-2793-2

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2009.5346396

Filename

5346396