Object resolved teleoperation

Abstract

A control concept referred to as object-resolved teleoperation is introduced in this paper in which motion or force is imparted to a remote object in order to achieve a desired action by the object. The object might be a hand-held tool or an airplane and the desired interaction might be control of its spatial position or interaction with the environment. The human interface to the master is a hand-held proxy for the object. At the remote site, the object motion or force commands are resolved into the appropriate commands for the actuation system. The potential advantages of ORT are: 1improvement in human-machine interaction, the consequence of the operator's cognitive task and command response being identical to those he would perform if he were manipulating the object, 2-the opportunity to share control between the operator and an intelligent controller at the remote site in such ways as to make best use of the capabilities of each. In this paper, application to grasp and manipulation is discussed.