Differences in Fitts' Law Task Performance Based on Environment Scaling
10 Jun 2008-pp 295-300
TL;DR: The influence that mismatched haptic and visual display scalings had on movement times in was measured and the need for further study using more participants and parametric statistics to measure the magnitude of the possible influences is suggested.
Abstract: Haptics research has begun implementing haptic feedback in tasks of great precision and skill, such as robotic surgery. Haptic displays can represent task environments with arbitrary scaling. Fitts' Law suggests differences in the scale of a workspace rendered on a visual display and in a haptic display should not affect performance of those tasks. However, interactions of great precision and skill may require understanding and verifying the influence of perceiving an environment when the visual and haptic displays represent those environments with differing scales. This experiment measured the influence that mismatched haptic and visual display scalings had on movement times in. Each of five treatments used different scales in the visual and the haptic displays. A Friedman rank test showed a significant difference across all treatments. A post hocpairwise comparison showed a nearly significant difference between two treatments. These findings suggest the need for further study using more participants and parametric statistics to measure the magnitude of the possible influences.
Citations
More filters
29 Jun 2011
TL;DR: Results of the experiments show a range of the view distance and the movement scale that can improve the performance of haptic-based teleoperation of industrial robots in complex environments.
Abstract: This paper presents the study on the effect of view distance and movement scale on performance of haptic based teleoperation of a sandblasting robot in complex steel bridge maintenance environments. The operational performance, measured by the Index of Performance (IP), is defined based on the speed and the control accuracy of the manipulator. View distance (i.e. the distance between a display space and an object movement space) and movement scale between hand movement and manipulator movement, which are normally selected empirically, have significant effect the performance. In this paper, an experimental approach is used for determining view distance and movement scale. The sandblasting robotic system is used as an example industrial application in the experiments. Results of the experiments show a range of the view distance and the movement scale that can improve the performance of haptic-based teleoperation of industrial robots in complex environments.
2 citations
Cites background from "Differences in Fitts' Law Task Perf..."
...Keywords: Human-Robot Interaction, Movement Scale, View Distance, Steel Bridge Maintenance Robot...
[...]
29 Jun 2011
TL;DR: In this article, an eXtended Hand Movement (XHM) model for eye-guided hand movement is developed with the aim of providing natural and comfortable interaction between a human operator and a robot.
Abstract: When human operator is in the control loop of a robotic system, which operates in unstructured, complex and dynamic environments such as those in construction and steel bridge maintenance, human factors will have significant effect on the operational performance and control of the robot This paper aims to investigate this effect and develop efficient methods for operational performance improvement An eXtended Hand Movement (XHM) model for eye-guided hand movement is developed with the aim of providing natural and comfortable interaction between a human operator and a robot A haptic force-speed-accuracy control method is then designed based on the XHM model and implemented in a steel bridge maintenance robotic system An experiment is conducted to verify the model and control method Experimental results demonstrated significant improvement in control accuracy and operational performance in a steel bridge maintenance robotic system Keyword: Human-Robot Interaction, Haptic Interface, Human Factor, Steel Bridge Maintenance Robot INTRODUCTION Industrial robots have been widely used to perform welldefined repetitive tasks in carefully constructed simple environments such as manufacturing factories The future of industrial robots is to operate in complex, unstructured and unknown (or partially known) dynamic environments such as those in construction and steel bridge maintenance, to assist human workers in undertaking hazardous tasks Autonomous operation of industrial robots in such environments is ideal, but there are a lot of challenges that need to be addressed Semi-autonomous or manual operation with human interaction is a practical solution because it utilises human intelligence and experience combined with the power and accuracy of an industrial robot Therefore, haptic-based human-robot interaction provides an enabling methodology However, there are still many challenging issues which need to be solved When human operator is in the control loop of a robotic system, human factors will have significant effect on the performance of haptic-based human interactive operation This paper aims to investigate this effect and an efficient method for operational performance improvement An eXtended Hand Movement (XHM) model for eye-guided hand movement is investigated in this paper with the aim of providing natural and comfortable interaction between a human operator and a robot, and improving the operational performance The model is studied for increasing the speed of the robot manipulator while maintaining the control accuracy This model is then applied into a steel bridge maintenance robotic system [1][21] Fig 1 shows the robotic system developed for sandblasting operation in steel bridge maintenance It consists of a robot arm affixed with sandblasting equipment and placed on a mobile platform A haptic device with force feedback is used to operate the robot in a complex environment A virtual spring method [2] is used as the haptic device and robot arm interface for guiding the robot arm to target points Attractive force (AF) method [3][4] and three dimensional virtual force field (3D-VF) method [5] are also used for target position control and real time collision avoidance When a human operator is in the control loop of the robot arm by means of the haptic device, for example sandblasting path planning, end-effector (or sandblasting nozzle) motion control and robot collision avoidance, the S34-2
1 citations
References
More filters
TL;DR: The motor system in the present case is defined as including the visual and proprioceptive feedback loops that permit S to monitor his own activity, and the information capacity of the motor system is specified by its ability to produce consistently one class of movement from among several alternative movement classes.
Abstract: Information theory has recently been employed to specify more precisely than has hitherto been possible man's capacity in certain sensory, perceptual, and perceptual-motor functions (5, 10, 13, 15, 17, 18). The experiments reported in the present paper extend the theory to the human motor system. The applicability of only the basic concepts, amount of information, noise, channel capacity, and rate of information transmission, will be examined at this time. General familiarity with these concepts as formulated by recent writers (4, 11,20, 22) is assumed. Strictly speaking, we cannot study man's motor system at the behavioral level in isolation from its associated sensory mechanisms. We can only analyze the behavior of the entire receptor-neural-effector system. However, by asking 51 to make rapid and uniform responses that have been highly overlearned, and by holding all relevant stimulus conditions constant with the exception of those resulting from 5"s own movements, we can create an experimental situation in which it is reasonable to assume that performance is limited primarily by the capacity of the motor system. The motor system in the present case is defined as including the visual and proprioceptive feedback loops that permit S to monitor his own activity. The information capacity of the motor system is specified by its ability to produce consistently one class of movement from among several alternative movement classes. The greater the number of alternative classes, the greater is the information capacity of a particular type of response. Since measurable aspects of motor responses, such as their force, direction, and amplitude, are continuous variables, their information capacity is limited only by the amount of statistical variability, or noise, that is characteristic of repeated efforts to produce the same response. The information capacity of the motor Editor's Note. This article is a reprint of an original work published in 1954 in the Journal of Experimental Psychology, 47, 381391.
7,599 citations
Book•
01 Jan 1977
842 citations
[...]
TL;DR: A team of scientists from the US Army's Telemedicine and Advanced Technology Research Center is working to develop a new generation of remotely-controlled surgical robots that would allow military doctors, stationed safely distant from the front line, to perform operations without once putting their hands on patients.
Abstract: A team of scientists from the US Army's Telemedicine and Advanced Technology Research Center is working to develop a new generation of remotely-controlled surgical robots that would allow military doctors, stationed safely distant from the front line, to perform operations without once putting their hands on patients. Part of the High Altitude Platforms Mobile Robotics Telesurgery project, this endeavor aims to demonstrate the concept of remote robotic surgery in the field, using a rugged surgical robot and an airborne communications link. With medical vehicles equipped with such remote-controlled robots, surgical care can be provided to soldiers in a lot less time than it would take to evacuate them to the nearest base or hospital. The team hopes these robots could also be used to bring advanced medical care not just to soldiers but to people in remote locations lacking in specialized physicians. A prototype of these remote-controlled robots is undergoing field testing at an isolated site north of Simi Valley in southwestern California to evaluate how well it performs outside the controlled environment of an operating with less than ideal conditions
90 citations
TL;DR: Dynamic links in the spatial mapping between vision and touch for moving objects are demonstrated and discrimination performance was dependent on the approaching object’s time to contact.
Abstract: We investigated crossmodal links between vision and touch for moving objects. In experiment 1, observers discriminated visual targets presented randomly at one of five locations on their forearm. Tactile pulses simulating motion along the forearm preceded visual targets. At short tactile-visual ISIs, discriminations were more rapid when the final tactile pulse and visual target were at the same location. At longer ISIs, discriminations were more rapid when the visual target was offset in the motion direction and were slower for offsets opposite to the motion direction. In experiment 2, speeded tactile discriminations at one of three random locations on the forearm were preceded by a visually simulated approaching object. Discriminations were more rapid when the object approached the location of the tactile stimulation and discrimination performance was dependent on the approaching object’s time to contact. These results demonstrate dynamic links in the spatial mapping between vision and touch.
67 citations
TL;DR: An experimental telemanipulator for endoscopic surgery is built that provides both force-feedback and Cartesian control as a prerequisite for automation and the hypothesis that haptic feedback in the form of sensory substitution facilitates performance of surgical tasks was evaluated.
Abstract: The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue and can cause breaks of suture material. In addition, minimally invasive procedures are very tiring for the surgeon due to the need for visual compensation for the missing force feedback. While a lack of Cartesian control of the end effectors is acceptable for surgeons (because every movement is visually supervised), it prevents research on partial automation. In order to improve this situation, we have built an experimental telemanipulator for endoscopic surgery that provides both force-feedback (in order to improve the feeling of immersion) and Cartesian control as a prerequisite for automation. In this article, we focus on the inclusion of force feedback and its evaluation. We completed our first bimanual system in early 2003 (EndoPAR Endoscopic Partial Autonomous Robot). Each robot arm consists of a standard robot and a surgical instrument, hence providing eight DOF that enable free manipulation via trocar kinematics. Based on the experience with this system, we introduced an improved version in early 2005. The new ARAMIS system (Autonomous Robot Assisted Minimally Invasive Surgery) has four multi-purpose robotic arms mounted on a gantry above the working space. Again, the arms are controlled by two force-feedback devices, and 3D vision is provided. In addition, all surgical instruments have been equipped with strain gauge force sensors that can measure forces along all translational directions of the instrument's shaft. Force-feedback of this system was evaluated in a scenario of robotic heart surgery, which offers an impression very similar to the standard, open procedures with high immersion. It enables the surgeon to palpate arteriosclerosis, to tie surgical knots with real suture material, and to feel the rupture of suture material. Therefore, the hypothesis that haptic feedback in the form of sensory substitution facilitates performance of surgical tasks was evaluated on the experimental platform described in the article (on the EndoPAR version). In addition, a further hypothesis was explored: The high fatigue of surgeons during and after robotic operations may be caused by visual compensation due to the lack of force-feedback (Thompson, J., Ottensmeier, M., & Sheridan, T. 1999. Human Factors in Telesurgery, Telmed Journal, 5 (2) 129--137.).
51 citations