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26 March 1993 Interacting with uncertainty
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Proceedings Volume 1833, Telemanipulator Technology; (1993)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
This paper considers issues related to the design of a system which can aid the operator in their interaction with the uncertain real world. This takes several complimentary approaches. The first is to reduce discrepancies between the master station's initial, imprecise, model of the slave site and the real remote world. This may be achieved by utilizing information received from the slave manipulator's kinesthetic interaction with the environment. The second is to make the operator aware of uncertainty by using color clues in the graphical user interface to provide an indication of uncertainty--this should allow an operator to compromise between speed and accuracy. The final approach is to reduce uncertainty in the position of the master arm by actively guiding it along one, or more, degrees of freedom such that it conforms to pre-defined and task-dependent geometric primitives.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Craig Sayers, Richard P. Paul, and Max Mintz "Interacting with uncertainty", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993);


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