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Experimental and simulation studies of hard contact in force reflecting teleoperationExperiments and simulations of a single-axis force-reflecting teleoperation system have been conducted to investigate the problem of contacting a hard environment and maintaining a controlled force in teleoperation in which position is fed forward from the hand controller (master) to the manipulator (slave), and force is fed back to the human operator through motors in the master. The simulations, using an electrical circuit model, reproduce the behavior of the real system, including effects of human operator biomechanics. It is shown that human operator properties, which vary as a result of different types of grasp of the handle, affect the stability of the system in the hard-contact task. The effect of a heavier grasp on the handle is equivalent to increased hand-controller velocity damping in terms of the systems stability in the contact task, but control system damping sufficient to guarantee stable contact results in perceptible sluggishness of the control handle's response in free motion. These results suggest that human operator biomechanics must be taken into account to guarantee stable and ergonomic performance of advanced teleoperators.
Document ID
19890024611
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hannaford, Blake
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Anderson, Robert
(Illinois, University Urbana, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation
Location: Philadelphia, PA
Country: United States
Start Date: April 24, 1988
End Date: April 29, 1988
Accession Number
89A11982
Distribution Limits
Public
Copyright
Other

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