Effects of force reflection on servomanipulator task performance
Effects of force reflection on servomanipulator task performance
复制标题
力反射对伺服机械手任务性能的影响
DOI：
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发表时间：
1986
期刊：
影响因子：
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通讯作者：
B. Weil
中科院分区：
文献类型：
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作者：
J. Draper;W. E. Moore;J. Herndon;B. Weil
本文报告了一个测试程序的结果，该程序评估力反射对伺服操纵器任务性能的影响。测试程序比较了三个力反射级别：4比1(从控制器上的四个力单位产生主控制器上的一个力单位)，1比1，以及无穷大到1(无力反射)。将完成任务所需的时间、错误发生率、应用于任务组件的最大力以及典型远程处理任务完成过程中的力的变化性作为因变量。与不使用力反射相比，操作员表现出更低的错误率、更低的峰值作用力以及更一致的作用力。这些数据支持力反射为伺服操纵器操作员提供有用信息的假设。
This paper reports results of a testing program that assessed the impact of force reflection on servomanipulator task performance. The testing program compared three force-reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to task components, and variability in forces during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force reflection than they did without it. These data support the hypothesis that force reflection provides useful information for servomanipulator operators.