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Proceedings Paper

Task performance with a dexterous teleoperated hand system
Author(s): Robert D. Howe; Dimitrios A. Kontarinis
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Paper Abstract

In this paper we examine the role of force bandwidth in performance of close-tolerance peg-in- hole insertion. The experiments use a two fingered teleoperated hand system with finger-level force feedback. Low-pass filters are used to vary the frequency content of the force feedback signal. Task completion times and error rates decrease as force reflection bandwidth increases. Most of the benefit appears between 2 and 8 Hz bandwidth, although some improvement is seen to 32 Hz, the highest frequency examined. These experiments also indicate that even low bandwidth force feedback improves the operator's ability to moderate task forces. However, force feedback does not enable to the operator to minimize grasp force, since this requires information about the friction at the contact between the grasped object and the slave finger tip.

Paper Details

Date Published: 26 March 1993
PDF: 9 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142109
Show Author Affiliations
Robert D. Howe, Harvard Univ. (United States)
Dimitrios A. Kontarinis, Harvard Univ. (United States)

Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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