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A teleoperation training simulator with visual and kinesthetic force virtual realityA force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.
Document ID
19930049451
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kim, Won S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Schenker, Paul
(JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Human vision, visual processing, and digital display III; Proceedings of the Meeting, San Jose, CA, Feb. 10-13, 1992 (A93-33438 12-63)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Man/System Technology And Life Support
Accession Number
93A33448
Distribution Limits
Public
Copyright
Other

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