Scaled bilateral telemanipulation: an experimental investigation of scaling laws

Hiroki Tokashiki; Prasad N. Akella; Kazuo Tanie

doi:10.1117/12.197314

21 December 1995 Scaled bilateral telemanipulation: an experimental investigation of scaling laws

Hiroki Tokashiki; Prasad N. Akella; Kazuo Tanie

Author Affiliations +

Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197314
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

In this paper, we examine the role of two force scaling laws in the performance, by human operators, of scaled teleoperated pick and place tasks. The experiments used a hybrid hardware-software telemanipulation system with force feedback. Human subjects were provided with visual and varying types of force feedback to perform the desired task. The force feedback depended on the scaling law used. Our results show that impedance scaling improved the performance with respect to constant (i.e., geometric only) scaling or no force feedback.

Citation Download Citation

Hiroki Tokashiki, Hiroki Tokashiki, Prasad N. Akella, Prasad N. Akella, Kazuo Tanie, Kazuo Tanie, } "Scaled bilateral telemanipulation: an experimental investigation of scaling laws", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); doi: 10.1117/12.197314; https://doi.org/10.1117/12.197314

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