[show abstract][hide abstract] ABSTRACT: Human-robot interfaces can be challenging and tiresome because of misalignments in the control and view relationships. The
human user must mentally transform (e.g., rotate or translate) desired robot actions to required inputs at the interface.
These mental transformations can increase task difficulty and decrease task performance. This chapter discusses how to improve
task performance by decreasing the mental transformations in a human-robot interface. It presents a mathematical framework,
reviews relevant background, analyzes both single and multiple camera-display interfaces, and presents the implementation
of a mentally efficient interface.
KeywordsMental transformation–control rotation–control translation–view rotation–teleoperation
[show abstract][hide abstract] ABSTRACT: Purpose – Sets out to discuss lessons learned from the creation and use of an over-the-internet teleoperation testbed. Design/methodology/approach – Seven lessons learned from the testbed are presented. Findings – This teleoperation interface improves task performance, as proved by a single demonstration. Originality/value – In helping to overcome time-delay difficulties in the operation, leading to dramatically improved task performance, this study contributes significantly to the improvement of teleoperation by making better use of human skills.
[show abstract][hide abstract] ABSTRACT: We consider teleoperation in which a slave manipulator, seen in one or more video images, is controlled by moving a master manipulandum. The operator must mentally transform (i.e., rotate, translate, scale, and/or deform) the desired motion of the slave image to determine the required motion at the master. Our goal is to make these mental transformations less taxing in order to decrease operator training time, improve task time/performance, and expand the pool of candidate operators. In this paper, we introduce a framework for describing the transformations required to use a particular teleoperation setup. We analyze in detail the mental transformations required in an interface consisting of one camera and display. We then expand our discussion to setups with multiple cameras/displays and discuss the results from an initial experiment.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on; 01/2004
[show abstract][hide abstract] ABSTRACT: Future space explorations necessitate manipulation of space structures in support of extra vehicular activities or extraterrestrial resource exploitation. In these tasks robots are expected to assist or replace human crew to alleviate human risk and enhance task performance. However due to the vastly unstructured and unpredictable environmental conditions, automation of robotic task is virtually impossible and thus teleoperation is expected to be employed. However teleoperation is extremely slow and inefficient. To improve task efficiency of teleoperation, this work introduces semi-autonomous telerobotic operation technology. Key technological innovations include implementation of reactive agent based robotic architecture and enhanced operator interface that renders virtual fixture.