Name
Abstract | ||
|---|---|---|
We report an experimental high-fidelity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3-D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces torques using the same 6-DOF master device. In the virtual task scenario, interactions are rendered haptically. In the real task scenario, the manipulandum of the haptic device interacts by direct mechanics with a real environment. In the remote-real scenario, interactions with a remote real task environment are mediated through a 6-DOF Lorentz magnetic levitation slave device carried by a 6-DOF robot arm. In all three scenarios, visual feedback is provided by a graphical display. The system records accurate positions/orientations and forces/torques as a function of time. These records can be parsed automatically and analyzed off-line to evaluate operator performance. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ROBOT.2003.1241764 | 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS |
Keywords | Field | DocType |
degree of freedom,haptic device,robot arm,telerobotics,magnetic levitation,force feedback,lorenz number | Robotic arm,Haptic interaction,Torque,Simulation,Control engineering,Magnetic levitation,Graphical display,Operator (computer programming),Engineering,Telerobotics,Haptic technology | Conference |
Volume | Issue | ISSN |
1 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.40 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| B. J. Unger | 1 | 28 | 3.09 |
| Roberta L. Klatzky | 2 | 827 | 160.45 |
| Ralph L. Hollis | 3 | 682 | 143.29 |