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Proceedings Paper

High-dexterity teleoperation in real and virtual environments
Author(s): Paul S. Schenker; Won Soo Kim; Antal K. Bejczy
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Paper Abstract

Our work in teleoperation highlights its space applications, and related tasks such as remote platform servicing, telescience, and lunar exploration. These tasks are complex, time- consuming, and relatively unstructured. Demands for manual dexterity are often high; the work is fatiguing; and uncertainty, which includes effects of time-delay, is nearly always present. In the face of these problems, we have been working along several technical fronts which include redundant telemanipulator control, multi-camera viewing and real-time graphics simulation, integrated operator interface design, and systems-scale ground laboratory experiments. Our main experimental thrust is end-to-end performance characterization--formal experiment design, task instrumentation for real-time data capture, integrated system demonstrations, and human factors analysis. Collectively, the goal is to quantify operator limitations, component technology requirements, and their interdependencies, all in the context of meaningful tasks with realistically posed system-level operational constraints (lighting, task geometry, time-delay, control & communication bandwidths, viewing & display limitations, etc.). Accompanying technical issues are reduction of operator error, workload, and training, each in itself a significant risk and cost driver for space operations. Toward these ends, we have been emphasizing advanced approaches to teleoperation, in the functional areas of task perception, planning, and control.

Paper Details

Date Published: 30 April 1992
PDF: 3 pages
Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57929
Show Author Affiliations
Paul S. Schenker, Jet Propulsion Lab. (United States)
Won Soo Kim, Jet Propulsion Lab. (United States)
Antal K. Bejczy, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 1611:
Sensor Fusion IV: Control Paradigms and Data Structures
Paul S. Schenker, Editor(s)

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