A Haptic Teleoperation Study Using Wave Variables and Scaling Matrices

被引：2

作者：

Alise, M. ^{[1
]}

Roberts, R. G. ^{[1
]}

Repperger, D. W. ^{[2
]}

Moore, C. A., Jr. ^{[1
]}

机构：

[1] Florida State Univ, Coll Engn, Florida A&M Univ, Tallahassee, FL 32310 USA

[2] HPW 711, AFRL RHCV, Wright Patterson AFB, OH 45433 USA

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2009), VOLS 1-9 | 2009年

关键词：

haptics; teleoperation; wave variables; time delay; scaling matrices; human performance; PERFORMANCE;

D O I：

10.1109/ICSMC.2009.5346396

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

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?

引用

页码：1 / +

页数：2

共 15 条

[1] The wave variable method for multiple degree of freedom teleoperation systems with time delay [J].

Alise, Marc ;

Roberts, Rodney G. ;

Repperger, Daniel W. .

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :2908-+

[2] On Extending the Wave Variable Method to Multiple-DOF Teleoperation Systems [J].

Alise, Marc ;

Roberts, Rodney G. ;

Repperger, Daniel W. ;

Moore, Carl A., Jr. ;

Tosunoglu, Sabri .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2009, 14 (01) :55-63

[3] BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY [J].

ANDERSON, RJ ;

SPONG, MW .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (05) :494-501

[4]

Hannaford B, 2001, IEEE INT CONF ROBOT, P1863, DOI 10.1109/ROBOT.2001.932880

[5] Internet-based teleoperation using wave variables with prediction [J].

Munir, S ;

Book, WJ .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2002, 7 (02) :124-133

[6]

Munir S., 2001, THESIS GEORGIA I TEC

[7] STABLE ADAPTIVE TELEOPERATION [J].

NIEMEYER, G ;

SLOTINE, JJE .

IEEE JOURNAL OF OCEANIC ENGINEERING, 1991, 16 (01) :152-162

[8]

Repperger D. W., 1991, IEEE Control Systems Magazine, V11, P52, DOI 10.1109/37.103357

[9] Human-machine haptic interface design using stochastic resonance methods [J].

Repperger, DW ;

Phillips, CA ;

Berlin, JE ;

Neidhard-Doll, AT ;

Haas, MW .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2005, 35 (04) :574-582

[10] A STUDY ON SPATIALLY INDUCED VIRTUAL FORCE WITH AN INFORMATION-THEORETIC INVESTIGATION OF HUMAN-PERFORMANCE [J].

REPPERGER, DW ;

PHILLIPS, CA ;

CHELETTE, TL .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1995, 25 (10) :1392-1404

← 1 2 →