Title :
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
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;
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2009.5346396
