Kinesthetic performance analysis of dual-user teleoperation systems

In dual-user teleoperation systems, unlike traditional teleoperation systems, two users are in interaction with each other as well as with environment. In this paper, the issue of transparency in such collaborative systems is discussed. In addition a number of measures are presented to analyze kinesthetic performance in dual-user systems. These indices are evaluated for a collaborative haptic control architecture presented in [1] for various types of environments, user grasps, and levels of dominance of users over tasks.

[1]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[2]  Shahin Sirouspour,et al.  Modeling and control of cooperative teleoperation systems , 2005, IEEE Transactions on Robotics.

[3]  Yoshiyuki Tanaka,et al.  Analysis of mechanical impedance in human arm movements using a virtual tennis system , 2004, Biological Cybernetics.

[4]  K. Hashtrudi-Zaad,et al.  A Method for Online Estimation of Human Arm Dynamics , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[5]  J. Edward Colgate,et al.  Factors affecting the Z-Width of a haptic display , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[6]  Keyvan Hashtrudi-Zaad,et al.  Performance Issues in Collaborative Haptic Training , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Michael Goldfarb,et al.  Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation , 2001 .

[8]  T. L. Brooks,et al.  Telerobotic response requirements , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.

[9]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[10]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..