We consider teleoperation in which a slave manipulator, seen in one or more video images, is controlled by moving a master manipulandum. The operator must mentally transform (i.e. rotate, translate, scale, and/or deform) the desired motion of the slave image to determine the required motion at the master manipulandum. Our goal is to make these mental transformations less taxing in order to decrease operator training time, improve task time/performance, and expand the pool of candidate operators. In this paper, we introduce a framework for describing the transformations required to use a particular teleoperation setup. We analyze in detail the mental transformations required in an interface consisting of one camera and display. We then expand our discussion to setups with multiple cameras/displays and discuss the results from an initial experiment. Finally, we suggest guidelines and principles by which a teleoperator display console and manipulandum can be configured in order to reduce the burden of mental transformations on the operator.
|Number of pages||8|
|Journal||Conference on Robotics and Remote Systems- Proceedings|
|State||Published - 2004|
|Event||10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States|
Duration: Mar 28 2004 → Mar 31 2004