21 December 1995 Virtual haptic overlays enhance performance in telepresence tasks
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Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197302
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States
Abstract
An empirical study was performed in which human subjects were asked to execute a peg- insertion task through a telepresence link with force-feedback. Subjects controlled a remote manipulator through natural hand motions by using an anthropomorphic upper body exoskeleton. The force-reflecting exoskeleton could present haptic sensations in six degrees of freedom. Subjects viewed the remote site through a high fidelity stereo vision system. Subjects performed the peg-insertion task under three different conditions: (1) in-person (direct manipulation), (2) through the telepresence link (telemanipulation), and (3) through the telepresence link while using abstract virtual haptic overlays known as `virtual fixtures' (telemanipulation with virtual fixturing). Five different haptic overlays were tested which included virtual surfaces, virtual damping fields, virtual snap-to-planes, and virtual snap-to- lines. Results of subject testing confirmed that human performance was significantly degraded when comparing telepresence manipulation to direct in-person manipulation. Results also confirmed that by introducing abstract haptic overlays into telepresence link, operator performance could be restored closer to natural in-person capacity. The use of 3D haptic overlays were found to as much as double manual performance in the standard peg-insertion task.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Louis B. Rosenberg, "Virtual haptic overlays enhance performance in telepresence tasks", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); doi: 10.1117/12.197302; https://doi.org/10.1117/12.197302
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