Citation

Driels M, Spain H. Int. J. Ind. Ergonomics 1991; 7(2): 93-101.

Copyright

(Copyright © 1991, Elsevier Publishing)

DOI

unavailable

PMID

unavailable

Abstract

In this work, we are concerned with the role that the haptic system plays in teleoperation, i.e. the exploration and manipulation of objects by a human operator using a remote robot arm. The approach is to incrementally enhance the remote touch-sensing capability beyond kinesthetic force feedback to include contact data and local re-perception and compare the time to identify quasi two-dimensional objects with that of a directly held probe. Results obtained indicated that friction between the remote probe and the environment made the feedback signal 'noisy' leading to conflicting and inaccurate hypotheses by the operators. Sensory feedback improved the signal-to-noise ratio giving performance levels approaching those of direct, as opposed to remote, probing.