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Proceedings Paper

Teleoperation training simulator with visual and kinesthetic-force virtual reality
Author(s): Won Soo Kim; Paul S. Schenker
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Paper Abstract

A force-reflecting teleoperation training stimulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two- dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

Paper Details

Date Published: 27 August 1992
PDF: 10 pages
Proc. SPIE 1666, Human Vision, Visual Processing, and Digital Display III, (27 August 1992); doi: 10.1117/12.136002
Show Author Affiliations
Won Soo Kim, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 1666:
Human Vision, Visual Processing, and Digital Display III
Bernice E. Rogowitz, Editor(s)

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