Analytical and Psychophysical Comparison of Bilateral Teleoperators for Enhanced Perceptual Performance
Analytical and Psychophysical Comparison of Bilateral Teleoperators for Enhanced Perceptual Performance
复制标题
双边远程操作员增强感知表现的分析和心理物理学比较
DOI：
10.1109/tie.2014.2314058
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发表时间：
2014
影响因子：
7.7
通讯作者：
D. Lee
中科院分区：
文献类型：
--
作者：
H. Son;J. Cho;T. Bhattacharjee;Hoeryong Jung;D. Lee
本文主要研究人类与远程环境进行触觉交互的感知能力。比较了两种常用的控制方法在两种触觉线索下的感知能力。采用解析法和心理物理学方法对其性能进行了分析。第一种控制方法旨在最大化远程交互的透明度(即基于透明度的方法)，而第二种控制方法旨在最大化操作员的检测和辨别能力(即基于感知的方法)。对于这两种控制方法，分别研究了两种使用远程环境中的位置和力的触觉提示。采用混合矩阵形式，并在频域中对其进行分析。然后进行心理物理实验，对控制方法进行以人为中心的评估和比较。分析和实验结果清楚地表明，与基于透明度的方法相比，基于感知的方法提高了操作员对远程环境的感知能力，而不受力的影响。在这两种控制方式中，与位置线索相比，力量线索对提高知觉敏感度的贡献更大。
This paper focuses on the human perception capabilities for haptic interaction with remote environments. The perception capabilities are compared for two well-known control methods with two kinds of haptic cues. Analytical and psychophysical methods are used to analyze the performance. The first control method aims at maximizing the transparency of the remote interactions (i.e., transparency-based method), whereas the second one aims at maximizing the detection and discrimination abilities of the human operator (i.e., perception-based method). For each of these two control methods, two kinds of haptic cues are studied, which use position and force cues from remote environments. Hybrid matrix formulation is employed, and it is analyzed in the frequency domain for these studies. Psychophysical experiments are then conducted for human-centered evaluation and comparison of the control methods. Analytical and experimental results clearly show that the perception-based method, when compared with the transparency-based method, enhances the human operator's perceptual capabilities of remote environments irrespective of force cues. For each of the two control methods, the force cues always contribute more to the increase in perceptual sensitivity when compared with the case of position cues.
DOI：
10.1007/s11548-009-0372-4
发表时间：
2010-03-01
影响因子：
3
作者：
Hagn, Ulrich;Konietschke, R.;Hirzinger, G.
通讯作者：
Hirzinger, G.