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Proceedings Paper

Periodic components of hand acceleration/deceleration impulses during telemanipulation
Author(s): John V. Draper; Stephen Handel
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Paper Abstract

Responsiveness is the ability of a telemanipulator to recreate user trajectories and impedance in time and space. For trajectory production, a key determinant of responsiveness is the ability of the system to accept user inputs, which are forces on the master handle generated by user hand acceleration/deceleration (a/d) impulses, and translate them into slave arm acceleration/deceleration. This paper presents observations of master controller a/d impulses during completion of a simple target acquisition task. Power spectral density functions calculated from hand controller a/d impulses were used to assess impulse waveform. The relative contributions of frequency intervals ranging up to 25 Hz for three spatially different versions of the task were used to determine which frequencies were most important. The highest relative power was observed in frequencies between 1 Hz and 6 Hz. The key frequencies related to task difficult were in the range from 2 Hz to 8 Hz. Differences were also observed from 9 Hz to 12 Hz. The results provide clues to the source of the performance inhibition.

Paper Details

Date Published: 21 December 1993
PDF: 8 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164914
Show Author Affiliations
John V. Draper, Oak Ridge National Lab. (United States)
Stephen Handel, University of Tennessee (United States)


Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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