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Proceedings Paper

Virtual haptic overlays enhance performance in telepresence tasks
Author(s): Louis B. Rosenberg
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Paper Abstract

An empirical study was performed in which human subjects were asked to execute a peg- insertion task through a telepresence link with force-feedback. Subjects controlled a remote manipulator through natural hand motions by using an anthropomorphic upper body exoskeleton. The force-reflecting exoskeleton could present haptic sensations in six degrees of freedom. Subjects viewed the remote site through a high fidelity stereo vision system. Subjects performed the peg-insertion task under three different conditions: (1) in-person (direct manipulation), (2) through the telepresence link (telemanipulation), and (3) through the telepresence link while using abstract virtual haptic overlays known as `virtual fixtures' (telemanipulation with virtual fixturing). Five different haptic overlays were tested which included virtual surfaces, virtual damping fields, virtual snap-to-planes, and virtual snap-to- lines. Results of subject testing confirmed that human performance was significantly degraded when comparing telepresence manipulation to direct in-person manipulation. Results also confirmed that by introducing abstract haptic overlays into telepresence link, operator performance could be restored closer to natural in-person capacity. The use of 3D haptic overlays were found to as much as double manual performance in the standard peg-insertion task.

Paper Details

Date Published: 21 December 1995
PDF: 10 pages
Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); doi: 10.1117/12.197302
Show Author Affiliations
Louis B. Rosenberg, Stanford Univ. (United States)


Published in SPIE Proceedings Vol. 2351:
Telemanipulator and Telepresence Technologies
Hari Das, Editor(s)

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