21 December 1995 Virtual haptic overlays enhance performance in telepresence tasks
Author Affiliations +
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
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, 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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