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Proceedings Paper

Scaled bilateral telemanipulation: an experimental investigation of scaling laws
Author(s): Hiroki Tokashiki; Prasad N. Akella; Kazuo Tanie
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Paper Abstract

In this paper, we examine the role of two force scaling laws in the performance, by human operators, of scaled teleoperated pick and place tasks. The experiments used a hybrid hardware-software telemanipulation system with force feedback. Human subjects were provided with visual and varying types of force feedback to perform the desired task. The force feedback depended on the scaling law used. Our results show that impedance scaling improved the performance with respect to constant (i.e., geometric only) scaling or no force feedback.

Paper Details

Date Published: 21 December 1995
PDF: 11 pages
Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); doi: 10.1117/12.197314
Show Author Affiliations
Hiroki Tokashiki, Univ. of Tsukuba (Japan)
Prasad N. Akella, MITI (Japan)
Kazuo Tanie, MITI (Japan)


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

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