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1 March 1992 Virtual display aids for teleoperation
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This paper describes a concept called virtual image and discusses its applications to telerobotics. The virtual image is a graphical tool which allows the operator to see the environment from any perspective that he wants. This concept proves critical in two situations: (1) when a sensor (i.e., wrist camera) from which the operator needs information is obscured and the information is not directly provided by any sensor, and (2) when the task requires moving a selected object relative to another object which is itself moving. These two problems are discussed in detail along with the method by which the virtual image concept offers the solution. A simulation was created in which the virtual image concept was tested under a varying set of parameters for a teleoperational task. The parameter categories are camera/graphical views, graphical display content, written display content, and operator interface. The simulation is described in detail along with the results and conclusions. In addition, the possibility of introducing automation as an aid for teleoperation is discussed and a relevant simulation scenario is analyzed. Throughout the paper, the real-world applicability of these ideas is emphasized.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ravi K. Chiruvolu, Vincent S. S. Hwang, and Thomas B. Sheridan "Virtual display aids for teleoperation", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992);

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