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26 March 1993 Task performance with a dexterous teleoperated hand system
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Proceedings Volume 1833, Telemanipulator Technology; (1993)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
In this paper we examine the role of force bandwidth in performance of close-tolerance peg-in- hole insertion. The experiments use a two fingered teleoperated hand system with finger-level force feedback. Low-pass filters are used to vary the frequency content of the force feedback signal. Task completion times and error rates decrease as force reflection bandwidth increases. Most of the benefit appears between 2 and 8 Hz bandwidth, although some improvement is seen to 32 Hz, the highest frequency examined. These experiments also indicate that even low bandwidth force feedback improves the operator's ability to moderate task forces. However, force feedback does not enable to the operator to minimize grasp force, since this requires information about the friction at the contact between the grasped object and the slave finger tip.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Robert D. Howe and Dimitrios A. Kontarinis "Task performance with a dexterous teleoperated hand system", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993);


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