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Hidden-Markov-Model Analysis Of Telemanipulator DataMathematical model and procedure based on hidden-Markov-model concept undergoing development for use in analysis and prediction of outputs of force and torque sensors of telerobotic manipulators. In model, overall task broken down into subgoals, and transition probabilities encode ease with which operator completes each subgoal. Process portion of model encodes task-sequence/subgoal structure, and probability-density functions for forces and torques associated with each state of manipulation encode sensor signals that one expects to observe at subgoal. Parameters of model constructed from engineering knowledge of task.
Document ID
19910000542
Document Type
Other - NASA Tech Brief
Authors
Hannaford, Blake (Caltech)
Lee, Paul (Caltech)
Date Acquired
August 14, 2013
Publication Date
October 1, 1991
Publication Information
Publication: NASA Tech Briefs
Volume: 15
Issue: 10
ISSN: 0145-319X
Subject Category
MACHINERY
Report/Patent Number
NPO-18000
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.