This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves the efficiency of an interface, thereby reducing the user's workload. The study uses several human-motor models to interpret human intention and thus contribute to defining and adapting the scaling parameters to the execution of the task. Two techniques addressed to vary the control-display ratio are compared, and a new method for aiding in the task of steering is proposed.
Teleoperation, by adequately adapting computer interfaces, can benefit from the knowledge on human factors and psychomotor models in order to improve the effectiveness and efficiency in the execution of a task. While scaling is one of the performances frequently used in teleoperation tasks that require high precision, such as surgery, this article presents a scaling method that considers the system dynamics as well. The proposed dynamic scaling factor depends on the apparent position and velocity of the robot and targets. Such scaling improves the performance of teleoperation interfaces, thereby reducing user's workload.
The environment of Industry 4.0 is producing a change in the way workers and machines coexist [1,2]. One of the key aspects of Industry 4.0 is the digitalization of processes, leading to an approach between physical systems and information systems. Having real-time information on the processes in a modern industry can predict failures, and anticipate changes in market demands. Computer-aided maintenance and repairing reduces process downtime by facilitating and reducing the workload of maintenance operators.
EditorialThe environment around Industry 4.0 should allow new paradigms for people and machines to work efficiently and safely given the growing boom in the interconnectivity of the elements involved, and the new roles that people acquire in this environment in revolution. Collaborative Robots [1] it is an example, which share with people the same space work to carry out tasks contributing each part with the best of both worlds.Another example, close to the robots, are the exoskeletons, which form a kinematic chain in close contact with the human body. These exoskeletons can provide support, rigidity, protection or augmentation of strength and/or sensitivity. Exoskeletons can cover lower limbs, upper limbs or both. They can be passive, providing support or protection, or they can be active, providing additional strength. There is an extensive methodology from the Robotics science that allows the modelling and control off these systems [2].The use of exoskeletons has been widely studied in the field of rehabilitation [3] both for upper [4] and specially for lower limbs [5,6], but their demand is also growing in the industrial sector.An example of upper body exoskeleton has recently been tested [7] in the automotive industry to assist operators who perform overhead operation repetitively and for long periods of time. These devices provide a support for the arms to be able to lift them with or without tools with easiness thanks to a predetermined vertical thrust. This type of assistance allows to reduce the load on the joints and muscles, improving the quality of life of the worker, both physical and mental, also achieving a better quality of work.Also in the automotive industry, an example of passive exoskeleton for the lower limbs [8] is being tested to assist workers who have to work standing up continuously, acting as a chair when the worker wants to rest, reducing the load on the legs and facilitating a postural correction on the back, but remaining on the body facilitating the mobility of the person.An example of an active exoskeleton that covers upper and lower limbs is the HAL robot [9] which, given its characteristics, has been proposed to be used for operations in nuclear power plants [10].For evaluation purposes and ergonomic design of the exoskeletons, some authors propose a set of bot objective [11] and subjective [12] metrics. Objective metrics are based on how the subject perceives the performance of the task, comfort as well as the index obtained from NASA TLX test. The use of 3D scanning techniques is also being used for the customized ergonomic design of exoskeleton structures [13].The close link between the exoskeleton robots and the human body requires the study of these systems from multiple points of view, requiring scientists from the areas of technology and health to work side by side for a successful evolution.
This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time.
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