Thumbnail
Access Restriction
Open

Author Lamb, Philip ♦ Owen, Dean
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Task Comple-tion ♦ End-effector-referenced Versus ♦ Space Telerobotic Manipulation ♦ Telemanipulation Task ♦ Viewpoint Egocentricity ♦ High Degree ♦ Mobile Viewpoint ♦ Optimal Interface Condition ♦ Operator Per-formance ♦ Spatial Property ♦ Control Interface ♦ End-effector-referenced Control ♦ Improved Performance ♦ Mobile Viewpoint Condition ♦ Space Shuttle Re-mote Manipulation System ♦ Task Completion Rate ♦ Virtual Viewpoint ♦ Human Performance ♦ Partial Fulfilment ♦ Telemanipulation Application ♦ Vr-based Simulation ♦ Space-based Telerobotic Manipulator ♦ Hand Controller ♦ Exocentric Frame ♦ Different Control Interface Condition
Description This paper considers the utility of VR in the design of the inter-face to a space-based telerobotic manipulator. An experiment was conducted to evaluate the potential for improved operator per-formance in a telemanipulation task when the operator’s control interface was varied between egocentric and exocentric frames of reference (FOR). Participants performed three tasks of increasing difficulty using a VR-based simulation of the Space Shuttle Re-mote Manipulation System (SRMS) under four different control interface conditions, which varied in respect of two factors, virtual viewpoint FOR (fixed versus attached to arm) and hand controller FOR (end-effector-referenced versus world-referenced.) Results indicated a high degree of interaction between spatial properties of the task and the optimal interface condition. Across all tasks, the conditions under end-effector-referenced control were associ-ated with higher performance, as measured by rate of task comple-tion. The mobile viewpoint conditions were generally associated with lower performance on task completion rate but improved performance with respect to number of collisions between the arm and objects in the environment. We conclude with discussion of implications for telemanipulation applications, and an approach to varying the dimension of viewpoint egocentricity in order to im-prove performance under the mobile viewpoint.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2002-01-01
Publisher Institution University of Canterbury, University of Canterbury