Event-driven displays for manipulator control

The problem of constructing event-related information displays from multidimensional data generated by proximity, force-torque and tactile sensors integrated with the terminal device of a remotely controlled manipulator is considered. Event-driven displays are constructed by using appropriate algorithms acting on sensory data in real time. Event-driven information displays lessen the operator's workload and improve control performance. The paper describes and discusses several event-driven display examples that were implemented in the JPL teleoperator project, including a brief outline of the data handling system which drives the graphics display in real time. The paper concludes with a discussion of future plans to integrate event-driven displays with visual (TV) information.