Effects of tactile information on telerobotic performance

R. Bryan Greenway Jr.; Terry N. Faddis

doi:10.1117/12.142121

26 March 1993 Effects of tactile information on telerobotic performance

R. Bryan Greenway Jr., Terry N. Faddis

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142121
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

This paper describes the results of an investigation into the effects of providing a telerobotic operator with three types of tactile information: kinesthetic, cutaneous, and visual. A full factorial experiment was conducted using sixteen test subjects divided into four test groups. The subjects were trained and tested performing two different tasks. They were not allowed direct visual contact with the task site, but were forced to use four different camera views. During task execution, a computer-based data acquisition system was used to record the telerobotic slave joint torque values. The performance of the system was measured using three criteria: joint torque variation, maximum joint torque value, and task completion time. A standard analysis of variance (ANOVA) test was used to determine if the different modes of tactile feedback caused a change in system performance. The ANOVA results showed that the kinesthetic feedback improved operator performance of the tasks in terms of both torque variation and maximum torque value, while cutaneous had no measurable effect. Visual feedback was not included in the test because it required the operator to continually shift eye contact between the feedback display and the displays showing the task site. Neither the kinesthetic feedback or the cutaneous feedback had an effect upon task completion time for the two tasks performed.

Citation Download Citation

R. Bryan Greenway Jr. and Terry N. Faddis "Effects of tactile information on telerobotic performance", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142121

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