Constant Visual and Haptic Time Delays in Simulated Bilateral Teleoperation: Quantifying the Human Operator Performance
Constant Visual and Haptic Time Delays in Simulated Bilateral Teleoperation: Quantifying the Human Operator Performance
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模拟双边远程操作中的恒定视觉和触觉时间延迟：量化人类操作员的表现
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
J. Rosen
中科院分区：
文献类型：
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作者：
Tariq Abuhamdia;J. Rosen
视觉反馈和力反馈(触觉)是机器人双边遥操作中的两个信息流，操作员在远程位置操纵机器人。传递视觉和触觉信息在一定程度上取决于通信网络的特性，并且导致非同步延迟。目的是研究视觉和触觉信息的恒定非同步和同步时延对人类遥操作性能的影响。实验装置包括一个虚拟现实环境，允许操作员通过呈现力反馈的触觉设备在模拟的远程环境中操纵虚拟对象。视觉和触觉信息在0-500ms的范围内被独立延迟，产生了121种不同的同步和非同步延迟场景。考虑到研究中的时间延迟，选择远程虚拟环境的特定参数可以确保稳定的隐形传态。实验任务包括跟踪预定义的几何形状和挑选位置任务，该任务模拟了导向力影响下的结构化和非结构化交互作用。八名受试者(n=8)参与了三个不同的遥操作任务的三次重复的实验，包括121个视觉和触觉时间延迟的组合。用来评估人类表现的测量参数是任务完成时间和位置误差，它们表示为视觉和触觉时间延迟的函数。然后进行回归分析和方差分析。结果表明，人的表现是两个延迟之和的函数。当两个延迟的总和增加时，人的性能下降，表现为完成时间和位置误差的增加。与跟踪任务相比，拾取放置任务的性能下降更为明显。在视觉和触觉信息不同步的情况下，人类的表现好于故意推迟一个信息源，试图同步和统一这两个延迟。这项研究的结果可以应用于具有固有时间延迟的网络上的任何远程操作任务，更具体地说，可以应用于由于时间延迟而导致性能降低的远程外科手术，其中由于时间延迟导致的性能下降对所提供的医疗保健的质量、患者的安全以及最终手术过程本身的结果具有深远的影响。
Visual feedback and force feedback (haptics) are the two streams of information in a robotic bilateral teleoperation where the operator manipulates a robot in a remote location. Delivering the visual and the haptic information depends in part on the characteristics of the communication network and results in a nonsynchronized delay. The goal is to study the effect of constant nonsynchronized and synchronized time delay of visual and haptic information on the human teleoperation performance. The experimental setup included a virtual reality environment, which allows the operator to manipulate the virtual objects in a simulated remote environment through a haptic device that renders the force feedback. The visual and the haptic information were delayed independently in the range of 0–500 ms, creating 121 different scenarios of synchronized and nonsynchronized delays. Selecting specific parameters of the remote virtual environment guaranteed stable teleportation, given the time delays under study. The experimental tasks included tracing predefined geometrical shapes and a pick-and-place task, which simulates both structured and unstructured interactions under the influence of guiding forces. Eight subjects (n = 8) participated in the experiment performing three repetitions of three different teleoperation tasks with 121 combinations of visual and haptic time delays. The measured parameters that were used to assess the human performance were the task completion time and the position errors expressed as a function of the visual and the haptic time delay. Then, regression and ANOVA analyses were performed. The results indicated that the human performance is a function of the sum of the two delays. As the sum of the two delays increases, the human performance degrades and is expressed with an increase in completion time and position errors. The performance degradation is more pronounced in the pick-and-place task compared to the tracing task. In scenarios where the visual and the haptics information were out of synchronization, the human performance was better than intentionally delaying one source of information in an attempt to synchronize and unify the two delays. The results of this study may be applied to any teleoperation tasks over a network with inherent time delays and more specifically to telesurgery in which performance degradation due to time delay has a profound effect on the quality of the healthcare delivered, patient safety, and ultimately the outcomes of the surgical procedure itself.
不同速度的画圆运动：惯性各向异性的作用。
DOI：
10.1152/jn.00946.2001
发表时间：
2002
期刊：
Journal of neurophysiology.
影响因子：
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作者：
Pfann,KerstinD;Corcos,DanielM;Moore,CharityG;Hasan,Ziaul
通讯作者：
Hasan,Ziaul