Preliminary Evaluation of Scaling Laws for Macro-Micro Teleoperated Systems.
Preliminary Evaluation of Scaling Laws for Macro-Micro Teleoperated Systems.
复制标题
宏微遥控操作系统缩放定律的初步评估。
DOI：
10.1299/kikaic.63.141
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
K. Tanie
中科院分区：
文献类型：
--
作者：
H. Tokashiki;P. Akella;K. Tanie
在本研究中，我们研究了三种力缩放定律在人类操作员执行缩放远程操作拾取和放置任务中的作用。在实验中，我们采用了一种带力反馈的硬件-软件混合遥控系统。为人类受试者提供视觉和各种类型的力反馈以执行期望的任务。力反馈取决于所使用的标度律。我们的研究结果表明，相对于常数（即仅几何）缩放或无力反馈，阻抗缩放和时间缩放提高了性能。
In this study, we examine the role of three force scaling laws in the performance, by human operators, of scaled teleoperated pick and place tasks. In the experiments we used a hybrid hardware-software telemanipulation system with force feedback. Human subjects were provided with visual and various types of force feedback in order to perform the desired task. The force feedback depended on the scaling law used. Our results show that impedance scaling and time scaling improved the performance with respect to constant (i.e., geometric only) scaling or no force feed-back.